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Detect more loop closures from/to specific map ID only option (#1653)

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* Detect more loop closures from/to specific map ID only option

* default value -1

* Added elapsed time

* Avoid loading ALL signatures in RAM, only load them when necessary

* Avoid creating flann index when initializing with Kp/NNStrategy>=3

* Setting opt params by default
This commit is contained in:
matlabbe
2026-02-13 10:49:12 -08:00
committed by GitHub
parent d6cf470402
commit 0ef907757b
6 changed files with 234 additions and 109 deletions
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tools/DetectMoreLoopClosures/main.cpp
+42 -2
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@@ -58,6 +58,7 @@ void showUsage()
" -i # Iterations (default 1).\n"
" --intra Add only intra-session loop closures.\n"
" --inter Add only inter-session loop closures.\n"
" --session # Add loop closures only from/to that map session ID (use -1 for last session).\n"
"\n%s", Parameters::showUsage());
exit(1);
}
@@ -73,12 +74,17 @@ void sighandler(int sig)
class PrintProgressState : public ProgressState
{
public:
PrintProgressState() :
stamp_(UTimer::now())
{}
virtual bool callback(const std::string & msg) const
{
if(!msg.empty())
printf("%s \n", msg.c_str());
printf("[%f] %s \n", UTimer::now()-stamp_, msg.c_str());
return g_loopForever;
}
private:
double stamp_;
};
int main(int argc, char * argv[])
@@ -101,6 +107,7 @@ int main(int argc, char * argv[])
int iterations = 1;
bool intraSession = false;
bool interSession = false;
int fromToMapId = -2;
for(int i=1; i<argc-1; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
@@ -171,9 +178,25 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--session") == 0)
{
++i;
if(i<argc-1)
{
fromToMapId = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
}
ParametersMap inputParams = Parameters::parseArguments(argc, argv);
// Add some optimizations (soft set, can be overriden by arguments)
inputParams.insert(ParametersPair(Parameters::kMemLoadVisualLocalFeaturesOnInit(), "false")); // don't need features already loaded in RAM
inputParams.insert(ParametersPair(Parameters::kKpNNStrategy(), "3")); // don't need flann index
std::string dbPath = argv[argc-1];
if(!UFile::exists(dbPath))
{
@@ -221,15 +244,32 @@ int main(int argc, char * argv[])
// Get the global optimized map
Rtabmap rtabmap;
printf("Initialization...\n");
UTimer timer;
uInsert(parameters, inputParams);
rtabmap.init(parameters, dbPath);
printf("Initialization... done! (%f sec)\n", timer.ticks());
float xMin, yMin, cellSize;
bool haveOptimizedMap = !rtabmap.getMemory()->load2DMap(xMin, yMin, cellSize).empty();
if(fromToMapId <= -2)
{
fromToMapId = -1; // means all below
}
else
{
bool last = false;
if(fromToMapId == -1)
{
// get last session ID
fromToMapId = rtabmap.getMemory()->getMapId(rtabmap.getMemory()->getLastSignatureId(), true);
}
printf("From/To Session ID = %d%s\n", fromToMapId, last?" (last session)":"");
}
PrintProgressState progress;
printf("Detecting...\n");
int detected = rtabmap.detectMoreLoopClosures(clusterRadiusMax, clusterAngle, iterations, intraSession, interSession, &progress, clusterRadiusMin);
int detected = rtabmap.detectMoreLoopClosures(clusterRadiusMax, clusterAngle, iterations, intraSession, interSession, &progress, clusterRadiusMin, fromToMapId);
if(detected < 0)
{
if(!g_loopForever)