mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
69ac21f811
* Adding GFTT and SIFT Cuda support * Working CudaSift * Disable cudasift option when not available * Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors * Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv * Refactored how maximum features are thresholded, to be more similar to OpenCV version * Updated loop closure benchmark scripts * Cuda optical flow tmp commit * Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences) * Fixed build without opencv cuda * Fixed build with Opencv 4.10 * ZED: updated parameters to match zed sdk 4 * MRPT requires C++17 * updated max octave limit CudaSift
69 lines
2.1 KiB
Matlab
69 lines
2.1 KiB
Matlab
function [CS DU] = updateCommonSignature(Mem, Dict)
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%UPDATECOMMONSIGNATURE Update the common signature (virtual place)
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% [CS DU] = updateCommonSignature(Mem, Dict)
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%
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% CS = common signature
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% DU dictionary updated
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% Mem : the memory (Mem = [signId1 WordRefIds...; signId2 WordRefIds...; ...])
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% Dict : the visual words dictionary (Dict = [wordId1 SignRefIds...; wordId2 SignRefIds...; ...])
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CS = Mem(1,:);
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CSid = Mem(1,1);
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% Clear references to the virtual place
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for i=2:length(CS)
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index = find(Dict(:,1) == CS(i));
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if isempty(index) ~= 1
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indexes = find(Dict(index, :) == CSid);
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for j=1:length(indexes)
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Dict(index,indexes(j)) = 0;
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end
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end
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end
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%clear words in the common signature
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CS = CS(1);
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%How many words we want... take the average of words by signature
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nbCommonWords = 0;
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memSize = size(Mem,1)-1; %Don't count the virtual place
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if(memSize > 0)
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totalActiveRef = sum(sum(Dict(:,2:end) ~= 0));
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nbCommonWords = floor(totalActiveRef / memSize);
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end
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if nbCommonWords>0
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%get common words
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list = [(sum(Dict(:,2:end)' ~= 0)') Dict(:,1)];
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list = sortrows(list)
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wordsAdded=0;
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for i=size(list,1):-1:1
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if i ~= size(list,1) && length(CS)>1
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ratio = floor(list(i+1,1)/list(i,1));
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len = length(CS);
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for j=2:ratio
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for k=2:len
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CS = [CS CS(k)];
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wordsAdded = wordsAdded + 1;
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if wordsAdded >= nbCommonWords
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break;
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end
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end
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if wordsAdded >= nbCommonWords
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break;
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end
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end
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end
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if wordsAdded < nbCommonWords
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CS = [CS list(i,2)];
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wordsAdded = wordsAdded + 1;
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end
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if wordsAdded >= nbCommonWords
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break;
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end
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end
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CS = [CS zeros(1,size(Mem,2) - length(CS))];
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% add references
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DU = updateDictionary(Dict, CS);
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else
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DU = Dict;
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end |