Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix bugs in loop detection #745

Open
wants to merge 12 commits into
base: master
Choose a base branch
from
Open

Fix bugs in loop detection #745

Changes from 1 commit
Commits
Show all changes
12 commits
Select commit Hold shift + click to select a range
6be8ead
Fix bugs in loop detection
fishmarch Apr 23, 2023
133ec2f
Update src/KeyFrameDatabase.cc
fishmarch Jun 6, 2023
b004e46
fix a bug in Sim3Solver.cc
fishmarch Jul 17, 2023
c05fff5
fix a bug in ORBmatcher.cc
fishmarch Jul 17, 2023
45ea0f5
fix a bug in UpdateConnections in KeyFrame.cc
fishmarch Jul 17, 2023
b66d0b7
fix bugs in DetectNBestCandidates in KeyFrameDatabase.cc
fishmarch Jul 20, 2023
ba5ff01
Update README.md
fishmarch Jul 20, 2023
f56c196
Update README.md
fishmarch Jul 20, 2023
d7288c6
Accelerate DetectNBestCandidates in KeyFrameDatabase.cc
fishmarch Jul 26, 2023
0dff649
Update README.md
fishmarch Jul 26, 2023
35c2361
Update KeyFrameDatabase.cc
fishmarch Aug 27, 2023
a109edc
Update README.md
fishmarch Aug 27, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 11 additions & 12 deletions src/KeyFrameDatabase.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -709,20 +709,19 @@ void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &v
while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates))
{
KeyFrame* pKFi = it->second;
if(pKFi->isBad())
continue;

if(!spAlreadyAddedKF.count(pKFi))
{
if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates)
{
vpLoopCand.push_back(pKFi);
}
else if(pKF->GetMap() != pKFi->GetMap() && vpMergeCand.size() < nNumCandidates && !pKFi->GetMap()->IsBad())
if(pKFi->isBad()){
fishmarch marked this conversation as resolved.
Show resolved Hide resolved
if(!spAlreadyAddedKF.count(pKFi))
{
vpMergeCand.push_back(pKFi);
if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates)
{
vpLoopCand.push_back(pKFi);
}
else if(pKF->GetMap() != pKFi->GetMap() && vpMergeCand.size() < nNumCandidates && !pKFi->GetMap()->IsBad())
{
vpMergeCand.push_back(pKFi);
}
spAlreadyAddedKF.insert(pKFi);
}
spAlreadyAddedKF.insert(pKFi);
}
i++;
it++;
Expand Down