i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2025-09-24 23:24:32 -07:00
parent c774ef641a
commit a552bdfb2f
7 changed files with 71 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/VWDictionary.cpp
+9 -2
View File
@@ -919,14 +919,21 @@ std::list<int> VWDictionary::addNewWords(
type = _visualWords.begin()->second->getDescriptor().type();
UASSERT(type == CV_32F || type == CV_8U);
}
static std::string moreInfo = uFormat(
"This could happen if the computer doesn't have access to same "
"feature detectors than when the database was created. This could "
"also happen if we enabled \"%s\" but the first frame received "
"was empty, thus features were re-extracted with a different detector "
"than the one used by the odometry.",
Parameters::kMemUseOdomFeatures().c_str());
if(dim && dim != descriptorsIn.cols)
{
UERROR("Descriptors (size=%d) are not the same size as already added words in dictionary(size=%d)", descriptorsIn.cols, dim);
UERROR("Descriptors (size=%d) are not the same size as already added words in dictionary (size=%d). %s", descriptorsIn.cols, dim, moreInfo.c_str());
return wordIds;
}
if(type>=0 && type != descriptorsIn.type())
{
UERROR("Descriptors (type=%d) are not the same type as already added words in dictionary(type=%d)", descriptorsIn.type(), type);
UERROR("Descriptors (type=%d) are not the same type as already added words in dictionary (type=%d). %s", descriptorsIn.type(), type, moreInfo.c_str());
return wordIds;
}