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Merge branch 'master' of github.com:introlab/rtabmap into reduce_graph_orphan_nodes

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matlabbe
2026-07-14 13:37:48 -07:00
parent 511f28ffc3 0f56dd4b43
commit e80a6f91b1
5 changed files with 161 additions and 62 deletions
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corelib/include/rtabmap/core/Memory.h
+5
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@@ -149,6 +149,9 @@ public:
//getters
const std::map<int, double> & getWorkingMem() const {return _workingMem;}
size_t getWorkingMemSize(bool ignoreIntermediateNodes = false) const;
int getWorkingMemIntermediateNodesCount() const {return _workingMemIntermediateNodesCount;}
int getStMemIntermediateNodesCount() const {return _stMemIntermediateNodesCount;}
const std::set<int> & getStMem() const {return _stMem;}
int getMaxStMemSize() const {return _maxStMemSize;}
std::multimap<int, Link> getNeighborLinks(int signatureId,
@@ -360,6 +363,8 @@ private:
bool _memoryChanged; // False by default, become true only when Memory::update() is called.
bool _linksChanged; // False by default, become true when links are modified.
int _signaturesAdded;
int _workingMemIntermediateNodesCount; // number of nodes with weight==-1 currently in _workingMem
int _stMemIntermediateNodesCount; // number of nodes with weight==-1 currently in _stMem
bool _allNodesInWM;
bool _receivingOdometryFeatures;
GPS _gpsOrigin;
corelib/include/rtabmap/core/Statistics.h
+2
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@@ -137,7 +137,9 @@ class RTABMAP_CORE_EXPORT Statistics
RTABMAP_STATS(NeighborLinkRefining, Pts,);
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Working_memory_inter_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_inter_size,);
RTABMAP_STATS(Memory, Database_memory_used, MB);
RTABMAP_STATS(Memory, Signatures_removed,);
RTABMAP_STATS(Memory, Immunized_globally,);