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Fix bugs in loop detection #745

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Fix bugs in loop detection #745

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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
e9868c6
running on my device
fishmarch Dec 2, 2024
503f3b3
running on my device
fishmarch Dec 2, 2024
5a0b298
fix a bug in ORBmatcher::SearchByProjection
fishmarch Dec 27, 2024
2710ae8
Update README.md
fishmarch Dec 27, 2024
beb05ba
fix a bug in presave
fishmarch Dec 27, 2024
1a99e6d
Update README.md
fishmarch Dec 27, 2024
4614875
edit gitignore
fishmarch Feb 13, 2025
135a87a
Merge branch 'master' of github.com:fishmarch/ORB_SLAM3_Fixed
fishmarch Feb 13, 2025
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23 changes: 11 additions & 12 deletions src/KeyFrameDatabase.cc
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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()){
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++;
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