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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/src/DBDriverSqlite3.cpp
+7 -8
View File
@@ -4419,14 +4419,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
ULOGGER_DEBUG("Update Node table, Time=%fs", timer.ticks());
// Update links part1
if(uStrNumCmp(_version, "0.18.3") >= 0)
{
query = uFormat("DELETE FROM Link WHERE from_id=? and type!=%d;", (int)Link::kLandmark);
}
else
{
query = uFormat("DELETE FROM Link WHERE from_id=?;");
}
query = uFormat("DELETE FROM Link WHERE from_id=?;");
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
for(std::list<Signature *>::const_iterator j=nodes.begin(); j!=nodes.end(); ++j)
@@ -4461,6 +4454,12 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
{
stepLink(ppStmt, i->second);
}
// Save landmarks
const std::map<int, Link> & landmarks = (*j)->getLandmarks();
for(std::map<int, Link>::const_iterator i=landmarks.begin(); i!=landmarks.end(); ++i)
{
stepLink(ppStmt, i->second);
}
}
}
// Finalize (delete) the statement