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Merge branch 'master' into reduce_graph_orphan_nodes

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matlabbe
2026-07-17 15:05:47 -07:00
committed by GitHub
parent 0bdc365d6e 5fad2d29c3
commit b27442a584
3 changed files with 15 additions and 18 deletions
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.github/workflows/cmake-macos.yml
+1 -1
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@@ -38,7 +38,7 @@ jobs:
- name: Install Brew Dependencies
run: |
# Update brew and install from Brewfile if present, or specific packages
brew install pcl opencv octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
brew install pcl opencv@4 octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
- name: Install Source Dependencies
# Build (and per-dependency cache) the source-only deps not available from
README.md
+5 -1
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@@ -58,7 +58,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td rowspan="4">ROS 2</td>
<td rowspan="5">ROS 2</td>
<td>Humble</td>
<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
</tr>
@@ -68,6 +68,10 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
</tr>
<tr>
<td>Kilted</td>
<td><a href="http://build.ros2.org/job/Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Lyrical</td>
<td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
corelib/src/FlannIndex.cpp
+9 -16
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@@ -31,9 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Version.h>
#ifdef WIN32
#include <rtabmap/core/Parameters.h>
#endif
#include "rtflann/flann.hpp"
#include <boost/crc.hpp>
@@ -179,8 +177,8 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
indexData.resize(bytes_written+headerSizeBytes);
indexData.shrink_to_fit();
int rebalancingFactorAsInt;
memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_));
int rebalancingFactorAsInt; // Deprecated
memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_)); // Deprecated
int crcValueAsInt;
memcpy(&crcValueAsInt, &crcValue, sizeof(crcValue));
int header[FLANN_INDEX_HEADER_SIZE] = {
@@ -188,7 +186,7 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
algorithm_, // 3,
featuresDim_, // 4,
useDistanceL1_?1:0, // 5,
rebalancingFactorAsInt, // 6,
rebalancingFactorAsInt, // 6, Deprecated
dataRows, // 7,
dataCols, // 8,
dataType, // 9,
@@ -199,7 +197,7 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
header[3],
header[4],
header[5],
rebalancingFactor_,
rebalancingFactor_, // Deprecated
header[7], header[8], header[9], crcValueAsInt,
header[11]);
memcpy(indexData.data(), header, headerSizeBytes);
@@ -405,8 +403,8 @@ bool FlannIndex::loadIndex(
int savedAlgorithm = header[3];
int savedDim = header[4];
bool savedDistanceL1 = header[5]==1;
float savedRebalancingFactor;
memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6]));
float savedRebalancingFactor; // Deprecated
memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6])); // Deprecated
int savedRows = header[7];
int savedCols = header[8];
int savedType = header[9];
@@ -414,12 +412,13 @@ bool FlannIndex::loadIndex(
memcpy(&savedCrc, &header[10], sizeof(header[10]));
int savedIndexSize = header[11];
UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f data(%dx%d type=%d, crc=%X) %d",
UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f (deprecated, using %f instead) data(%dx%d type=%d, crc=%X) index size = %d bytes",
header[0],header[1],header[2],
header[3],
header[4],
header[5],
savedRebalancingFactor,
savedRebalancingFactor, // Deprecated
rebalancingFactor,
header[7], header[8], header[9], savedCrc,
header[11]);
@@ -441,12 +440,6 @@ bool FlannIndex::loadIndex(
}
return false;
}
if(savedRebalancingFactor != rebalancingFactor) {
if(error) {
*error = uFormat("Serialized \"rebalancing factor\" (%f) doesn't match the expected one (%f).", savedRebalancingFactor, rebalancingFactor);
}
return false;
}
if(savedRows != features.rows) {
if(error) {
*error = uFormat("Serialized feature count (%d) doesn't match the expected one (%d).", savedRows, features.rows);