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GUI: Support Optimizer/Robust with RGBD/OptimizeMaxError at the same time. DBReader: fixed repeated odom covariance when Mem/ReduceGraph is used. Memory: avoid error msg when receiving frames without features while we expect odometry features. See also #1573

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matlabbe
2025-09-24 23:24:32 -07:00
parent c774ef641a
commit a552bdfb2f
7 changed files with 71 additions and 42 deletions
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corelib/src/Memory.cpp
+20 -9
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@@ -131,6 +131,7 @@ Memory::Memory(const ParametersMap & parameters) :
_linksChanged(false),
_signaturesAdded(0),
_allNodesInWM(true),
_receivingOdometryFeatures(false),
_badSignRatio(Parameters::defaultKpBadSignRatio()),
_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
_parallelized(Parameters::defaultKpParallelized()),
@@ -1262,16 +1263,17 @@ void Memory::moveSignatureToWMFromSTM(int id, int * reducedTo)
std::multimap<int, Link> linksCopy = links;
for(std::multimap<int, Link>::iterator iter=linksCopy.begin(); iter!=linksCopy.end(); ++iter)
{
if(iter->second.type() == Link::kNeighbor ||
iter->second.type() == Link::kNeighborMerged)
if(iter->second.type() == Link::kNeighborMerged)
{
// Removing only merged neighbor links, we keep original neighbor
// links to be able to reprocess databases with correct odometry covariance.
s->removeLink(iter->first);
if(iter->second.type() == Link::kNeighbor)
}
if(iter->second.type() == Link::kNeighbor)
{
if(_lastGlobalLoopClosureId == s->id())
{
if(_lastGlobalLoopClosureId == s->id())
{
_lastGlobalLoopClosureId = iter->first;
}
_lastGlobalLoopClosureId = iter->first;
}
}
}
@@ -1929,6 +1931,7 @@ void Memory::clear()
_landmarksIndex.clear();
_landmarksSize.clear();
_allNodesInWM = true;
_receivingOdometryFeatures = false;
if(_dbDriver)
{
@@ -4849,6 +4852,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
meanWordsPerLocation = _vwd->getTotalActiveReferences() / (treeSize-1); // ignore virtual signature
}
else if(_useOdometryFeatures) {
// To not detect first image as bad signature if odometry
// is using less features than feature2D->getMaxFeatures()
meanWordsPerLocation = 0;
}
if(_parallelized && !isIntermediateNode)
{
@@ -4952,10 +4960,12 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
SensorData decimatedData;
UDEBUG("Received kpts=%d kpts3D=%d, descriptors=%d _useOdometryFeatures=%s",
(int)data.keypoints().size(), (int)data.keypoints3D().size(), data.descriptors().rows, _useOdometryFeatures?"true":"false");
// TODO: do we still need the third and fouth comparisons?
// TODO: there is significant repetitive code between the if and the else, could we combine them?!
if(!_useOdometryFeatures ||
data.keypoints().empty() ||
(!_receivingOdometryFeatures && data.keypoints().empty()) ||
(int)data.keypoints().size() != data.descriptors().rows ||
(_feature2D->getType() == Feature2D::kFeatureOrbOctree && data.descriptors().empty()))
(!_receivingOdometryFeatures && _feature2D->getType() == Feature2D::kFeatureOrbOctree && data.descriptors().empty()))
{
if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode)
{
@@ -5292,6 +5302,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
else if(_feature2D->getMaxFeatures() >= 0 && !isIntermediateNode)
{
_receivingOdometryFeatures = true;
UINFO("Use odometry features: kpts=%d 3d=%d desc=%d (dim=%d, type=%d)",
(int)data.keypoints().size(),
(int)data.keypoints3D().size(),