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Added Memory and Rtabmap tests

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matlabbe
2026-05-24 20:49:49 -07:00
parent 5786a8796d
commit e9c0194546
8 changed files with 7148 additions and 73 deletions
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corelib/include/rtabmap/core/Memory.h
+16 -6
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@@ -211,12 +211,22 @@ public:
/**
* @brief Transfers oldest signatures from WM to LTM to respect memory and/or time limits.
*
* The number of signatures removed depends on the visual word dictionary growth
* since the previous iteration (including retrieved signatures). We remove signatures
* until the number of visual words transferred is greater than the number of retrieved
* ones on the last iteration. In the case that signatures don't have visual words (e.g., lidar-only mapping),
* we remove at least one more signature than the total of signatures added/retrieved in the
* previous iteration.
* Two regimes are used depending on the visual word dictionary state:
* - **Word-count regime**: active only when mapping mode is on, the @ref VWDictionary
* is in incremental mode, contains at least one word, and is *not* using incremental
* FLANN. In this regime, signatures are transferred until the number of visual words
* removed from the dictionary catches up with the number of new words indexed since
* the previous iteration.
* - **Signature-count regime**: used in every other case (localization mode, dictionary
* not incremental, dictionary still empty -- e.g. lidar-only mapping or no feature
* extraction -- or incremental FLANN, where the word count is no longer the bottleneck).
* In this regime, at least one more signature than the count added/retrieved in the
* previous iteration is transferred, regardless of words.
*
* In both regimes, candidate selection (see @c getRemovableSignatures()) honors
* @p ignoredIds, skips intermediate nodes, and excludes WM nodes linked to STM (to
* preserve rehearsal). Intermediate (weight==-1) nodes linked to a transferred
* signature are dragged out with it.
*
* @param ignoredIds Signatures that must not be transferred (e.g. STM, retrieved ids, on the planned path).
* @return Ids of signatures moved to LTM, in transfer order.