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New rtabmap-reduceGraph CLI tool (#1655)

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* New rtabmap-reduceGraph CLI tool

* fixed some edge cases

* Regenerating optimized map if there was one before reducing the graph

* addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added

* Added kilted status

* Make offline tool always propagate neighbor merged links

* removed a parameter

* fixed disconnected graph

* fixed --help

* Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error.

* exposing neighbor merged ratio parameter to the tool

* show param in log

* refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter.

* Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance.

* Removed NNStrategy override, as it was still done on closing when we changed back to original params

* DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links

* DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer

* slight renaming of ROS jobs

* reprocess: added option --params_last
This commit is contained in:
matlabbe
2026-04-04 19:48:03 -07:00
committed by GitHub
parent 51cfc37923
commit 1ea8fa2e06
24 changed files with 865 additions and 294 deletions
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corelib/include/rtabmap/core/Graph.h
+3 -4
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@@ -277,7 +277,8 @@ std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
bool lookInDatabase = true,
bool updateNewCosts = false,
float linearVelocity = 0.0f, // m/sec
float angularVelocity = 0.0f); // rad/sec
float angularVelocity = 0.0f, // rad/sec
bool ignoreDirectLinks = false);
/**
* Find the nearest node of the target pose
@@ -336,9 +337,7 @@ RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius
RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
float RTABMAP_CORE_EXPORT computePathLength(
const std::vector<std::pair<int, Transform> > & path,
unsigned int fromIndex = 0,
unsigned int toIndex = 0);
const std::vector<std::pair<int, Transform> > & path);
// assuming they are all linked in map order
float RTABMAP_CORE_EXPORT computePathLength(
corelib/include/rtabmap/core/Memory.h
+2
View File
@@ -144,6 +144,7 @@ public:
void saveLocationData(int locationId);
void removeLink(int idA, int idB);
void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);
//getters
const std::map<int, double> & getWorkingMem() const {return _workingMem;}
@@ -277,6 +278,7 @@ private:
void initCountId();
void rehearsal(Signature * signature, Statistics * stats = 0);
bool rehearsalMerge(int oldId, int newId);
bool canBeReduced(const Link & link, float maxDistance, int direction);
const std::map<int, Signature*> & getSignatures() const {return _signatures;}