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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/VWDictionary.cpp
+10 -1
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@@ -573,6 +573,15 @@ void VWDictionary::update()
_removedIndexedWords.size() == 0 &&
_visualWords.size())
{
const int IMGIDX_SHIFT = 18;
const int IMGIDX_ONE = (1 << IMGIDX_SHIFT); // a limit defined in https://github.com/opencv/opencv/blob/4.x/modules/features2d/src/matchers.cpp
if(_dataTree.rows >= IMGIDX_ONE)
{
UWARN("%s=%d is not a FLANN strategy and the number of words in the vocabulary (%d) is over %d (IMGIDX_ONE), so opencv may "
"assert on an IMGIDX_ONE check when adding new words. Use a FLANN strategy instead (%s<%d).",
Parameters::kKpNNStrategy().c_str(), _strategy, _dataTree.rows, IMGIDX_ONE, Parameters::kKpNNStrategy().c_str(), kNNBruteForce);
}
//just add not indexed words
int i = _dataTree.rows;
if(!_dataTree.empty()) {
@@ -1006,7 +1015,7 @@ std::list<int> VWDictionary::addNewWords(
if(_flannIndex->isBuilt() || (!_dataTree.empty() && _dataTree.rows >= (int)k))
{
//Find nearest neighbors
UDEBUG("newPts.total()=%d ", descriptors.rows);
UDEBUG("newPts.total()=%d _strategy=%d", descriptors.rows, _strategy);
if(_strategy == kNNFlannNaive || _strategy == kNNFlannKdTree || _strategy == kNNFlannLSH)
{