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Fixed https://github.com/introlab/rtabmap_ros/issues/1187

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matlabbe
2024-07-27 12:12:49 -07:00
parent 9ef94f5a71
commit cc5da376ec
1 changed files with 20 additions and 8 deletions
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28
corelib/src/Memory.cpp
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@@ -4546,7 +4546,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
float t;
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
bool isIntermediateNode = data.id() < 0 || (data.imageRaw().empty() && data.keypoints().empty() && data.laserScanRaw().empty());
bool isIntermediateNode = data.id() < 0;
int id = data.id();
if(_generateIds)
{
@@ -5492,7 +5492,12 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
Landmarks landmarks = data.landmarks();
if(_detectMarkers && !isIntermediateNode && !data.imageRaw().empty())
if(!landmarks.empty() && isIntermediateNode)
{
UDEBUG("Landmarks provided (size=%ld) are ignored because this signature is set as intermediate.", landmarks.size());
landmarks.clear();
}
else if(_detectMarkers && !isIntermediateNode && !data.imageRaw().empty())
{
UDEBUG("Detecting markers...");
if(landmarks.empty())
@@ -5982,16 +5987,23 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
s->sensorData().setGPS(data.gps());
s->sensorData().setEnvSensors(data.envSensors());
std::vector<GlobalDescriptor> globalDescriptors = data.globalDescriptors();
if(_globalDescriptorExtractor)
if(!isIntermediateNode)
{
GlobalDescriptor gdescriptor = _globalDescriptorExtractor->extract(inputData);
if(!gdescriptor.data().empty())
std::vector<GlobalDescriptor> globalDescriptors = data.globalDescriptors();
if(_globalDescriptorExtractor)
{
globalDescriptors.push_back(gdescriptor);
GlobalDescriptor gdescriptor = _globalDescriptorExtractor->extract(inputData);
if(!gdescriptor.data().empty())
{
globalDescriptors.push_back(gdescriptor);
}
}
s->sensorData().setGlobalDescriptors(globalDescriptors);
}
else if(!data.globalDescriptors().empty())
{
UDEBUG("Global descriptors provided (size=%ld) are ignored because this signature is set as intermediate.", data.globalDescriptors().size());
}
s->sensorData().setGlobalDescriptors(globalDescriptors);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemCompressing_data(), t*1000.0f);