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Odom: support features-only frames (#1767)

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* Odom: support features-only frames

* odom: fixed input keypoint scaling when Odom/Decimation is used

* fixing octave scaling when decimating image in Memory

* Gating negative octave scaling on decimation

* backward compatibility with octave issue

* narrowing the change, cleanup comments

* fixing corrupted file copy on windows
This commit is contained in:
matlabbe
2026-09-19 23:48:45 -07:00
committed by GitHub
parent 1fe713cc1f
commit 9ed83a71db
9 changed files with 234 additions and 10 deletions
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corelib/include/rtabmap/core/Memory.h
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@@ -847,6 +847,7 @@ private:
bool _stereoFromMotion;
unsigned int _imagePreDecimation;
unsigned int _imagePostDecimation;
bool _legacyDecimatedOctave;
bool _compressionParallelized;
float _laserScanDownsampleStepSize;
float _laserScanVoxelSize;