i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 10:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

New rtabmap-reduceGraph CLI tool (#1655)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+29 -1
View File
@@ -5731,6 +5731,7 @@ int Rtabmap::detectMoreLoopClosures(
if(toFromMapId >=0)
{
size_t clustersBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
int mapId = uValue(mapIds, iter->first, 0);
@@ -5742,7 +5743,7 @@ int Rtabmap::detectMoreLoopClosures(
++iter;
}
}
UINFO("Looking for more loop closures: filtered %ld clusters for map session %d.", clusters.size(), toFromMapId);
UINFO("Looking for more loop closures: filtered %ld/%ld clusters for map session %d.", clustersBefore-clusters.size(), clustersBefore, toFromMapId);
if(clusters.empty())
{
UERROR("No clusters belong to mapId %d, aborting.", toFromMapId);
@@ -5750,6 +5751,33 @@ int Rtabmap::detectMoreLoopClosures(
}
}
if(_memory->getMaxStMemSize() > 1)
{
size_t clustersBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
if(abs(iter->first - iter->second) < _memory->getMaxStMemSize())
{
iter = clusters.erase(iter);
}
else
{
// compute path to know how far we are in terms of graph length
std::map<int, int> ids = _memory->getNeighborsId(iter->first, _memory->getMaxStMemSize(), -1, true, true, true);
if(ids.find(iter->second) != ids.end())
{
iter = clusters.erase(iter);
}
else
{
++iter;
}
}
}
UINFO("Looking for more loop closures: filtered %ld/%ld clusters for too close nodes (below %s=%d).",
clustersBefore-clusters.size(), clustersBefore, Parameters::kMemSTMSize().c_str(), _memory->getMaxStMemSize());
}
int i=0;
std::set<int> addedLinks;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end(); ++iter, ++i)