Removed a few unnecessary copies caused by aslam return values not be…

…ing respected
ethz-asl · Mar 28, 2023 · e9463bd · e9463bd
1 parent d9b0b23
commit e9463bd
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/algorithms/loopclosure/loop-closure-handler/src/loop-detector-node.cc b/algorithms/loopclosure/loop-closure-handler/src/loop-detector-node.cc
@@ -152,7 +152,7 @@ void LoopDetectorNode::convertFrameToProjectedImageOnlyUsingProvidedLandmarkIds(
       static_cast<int>(observed_landmark_ids.size()),
       frame.getDescriptorsOfType(feature_type_).cols());
 
-  const Eigen::Matrix2Xd& original_measurements =
+  const Eigen::Block<const Eigen::Matrix2Xd> original_measurements =
       frame.getKeypointMeasurementsOfType(feature_type_);
   const aslam::VisualFrame::DescriptorsT& original_descriptors =
       frame.getDescriptorsOfType(feature_type_);

diff --git a/algorithms/online-map-builders/src/stream-map-builder.cc b/algorithms/online-map-builders/src/stream-map-builder.cc
@@ -1081,12 +1081,12 @@ void StreamMapBuilder::notifyExternalFeaturesMeasurementBuffer() {
     if (!queries_.getClosestVertexIdByTimestamp(
             timestamp_ns_measurement, external_features_sync_tolerance_ns_,
             &closest_vertex_id, &delta_ns)) {
-      /*LOG(WARNING)
+      LOG(WARNING)
           << "[StreamMapBuilder] Could not attach external features "
           << "measurement, because the timestamp is not close enough to "
           << "a vertex in the pose graph (delta = " << delta_ns << "ns > "
           << external_features_sync_tolerance_ns_
-          << "ns)! timestamp_ns: " << timestamp_ns_measurement << ".";*/
+          << "ns)! timestamp_ns: " << timestamp_ns_measurement << ".";
       continue;
     }
 

diff --git a/aslam_cv2 b/aslam_cv2
+6 −1		aslam_cv_frames/src/visual-frame.cc
+0 −5		aslam_cv_matcher/include/aslam/matcher/match-helpers.h
+3 −11		aslam_cv_matcher/src/match-helpers.cc
+2 −1		aslam_cv_tracker/src/feature-tracker-gyro.cc
+3 −3		aslam_cv_visualization/src/basic-visualization.cc