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Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.

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matlabbe
2020-09-28 10:29:14 -04:00
parent c5158cade5
commit 933ac736f1
13 changed files with 253 additions and 78 deletions
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corelib/src/Rtabmap.cpp
+10
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@@ -432,6 +432,16 @@ void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)
{
if(databaseSaved)
{
if(_memory->isGraphReduced() && _memory->isIncremental())
{
// Force reducing graph, then remove filtered nodes from the optimized poses
std::map<int, int> reducedIds;
_memory->incrementMapId(&reducedIds);
for(std::map<int, int>::iterator iter=reducedIds.begin(); iter!=reducedIds.end(); ++iter)
{
_optimizedPoses.erase(iter->first);
}
}
_memory->saveOptimizedPoses(_optimizedPoses, _lastLocalizationPose);
}
_memory->close(databaseSaved, true, ouputDatabasePath);