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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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guilib/src/DatabaseViewer.cpp
+62 -6
View File
@@ -239,6 +239,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopClosureReextractFeatures()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopCovLimited()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDProximityPathFilteringRadius()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kMemSTMSize()));
ui_->parameters_toolbox->setupUi(parameters);
exportDialog_->setObjectName("ExportCloudsDialog");
restoreDefaultSettings();
@@ -481,6 +482,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_intraSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_interSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_minGraphDistance, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_opt_graph_as_guess, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
@@ -678,6 +680,7 @@ void DatabaseViewer::readSettings()
ui_->checkBox_detectMore_intraSession->setChecked(settings.value("intra_session", ui_->checkBox_detectMore_intraSession->isChecked()).toBool());
ui_->checkBox_detectMore_interSession->setChecked(settings.value("inter_session", ui_->checkBox_detectMore_interSession->isChecked()).toBool());
ui_->checkBox_opt_graph_as_guess->setChecked(settings.value("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked()).toBool());
ui_->spinBox_minGraphDistance->setValue(settings.value("min_graph_distance", ui_->spinBox_minGraphDistance->value()).toInt());
settings.endGroup();
settings.endGroup();
@@ -775,6 +778,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("intra_session", ui_->checkBox_detectMore_intraSession->isChecked());
settings.setValue("inter_session", ui_->checkBox_detectMore_interSession->isChecked());
settings.setValue("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked());
settings.setValue("min_graph_distance", ui_->spinBox_minGraphDistance->value());
settings.endGroup();
settings.endGroup();
@@ -856,6 +860,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->checkBox_detectMore_interSession->setChecked(true);
ui_->checkBox_opt_graph_as_guess->setChecked(true);
ui_->spinBox_fromToMapId->setValue(-1);
ui_->spinBox_minGraphDistance->setValue(10);
}
void DatabaseViewer::openDatabase()
@@ -4285,10 +4290,12 @@ void DatabaseViewer::detectMoreLoopClosures()
const ParametersMap & parameters = ui_->parameters_toolbox->getParameters();
bool loopCovLimited = Parameters::defaultRGBDLoopCovLimited();
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), loopCovLimited);
std::multimap<int, Link> links = updateLinksWithModifications(links_);
if(loopCovLimited)
{
odomMaxInf_ = graph::getMaxOdomInf(updateLinksWithModifications(links_));
odomMaxInf_ = graph::getMaxOdomInf(links);
}
links = graph::filterLinks(links, Link::kNeighbor, true); // keep only neighbor links
int iterations = ui_->spinBox_detectMore_iterations->value();
UASSERT(iterations > 0);
@@ -4299,6 +4306,7 @@ void DatabaseViewer::detectMoreLoopClosures()
bool interSession = ui_->checkBox_detectMore_interSession->isChecked();
bool useOptimizedGraphAsGuess = ui_->checkBox_opt_graph_as_guess->isChecked();
int fromToMapId = ui_->spinBox_fromToMapId->value();
int minimumGraphDistance = ui_->spinBox_minGraphDistance->value();
if(!interSession && !intraSession)
{
QMessageBox::warning(this, tr("Cannot detect more loop closures"), tr("Intra and inter session parameters are disabled! Enable one or both."));
@@ -4324,6 +4332,7 @@ void DatabaseViewer::detectMoreLoopClosures()
progressDialog->appendText(tr("Looking for more loop closures: %1 clusters found.").arg(clusters.size()));
if(fromToMapId >=0)
{
int clusterBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
int mapId = uValue(mapIds_, iter->first, 0);
@@ -4335,7 +4344,8 @@ void DatabaseViewer::detectMoreLoopClosures()
++iter;
}
}
progressDialog->appendText(tr("Looking for more loop closures: filtered %1 clusters for map session %2.").arg(clusters.size()).arg(fromToMapId));
progressDialog->appendText(tr("Looking for more loop closures: filtered %1/%2 clusters for map session %3.")
.arg(clusterBefore-clusters.size()).arg(clusterBefore).arg(fromToMapId));
if(clusters.empty())
{
progressDialog->appendText(tr("No clusters belong to mapId %1, aborting!").arg(fromToMapId));
@@ -4344,6 +4354,34 @@ void DatabaseViewer::detectMoreLoopClosures()
}
}
if(minimumGraphDistance > 1)
{
int clusterBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
if(abs(iter->first - iter->second) < minimumGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
// compute path to know how far we are in terms of graph length
std::list<int> path = graph::computePath(links, iter->first, iter->second);
if(!path.empty() && (int)path.size() <= minimumGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
++iter;
}
}
}
progressDialog->appendText(tr("Filtered %1/%2 clusters for too close nodes (below minimum graph distance=%3).")
.arg(clusterBefore-clusters.size()).arg(clusterBefore).arg(minimumGraphDistance));
QApplication::processEvents();
}
progressDialog->setMaximumSteps(progressDialog->maximumSteps()+(int)clusters.size());
QApplication::processEvents();
@@ -4700,10 +4738,17 @@ void DatabaseViewer::graphNodeSelected(int id)
void DatabaseViewer::graphLinkSelected(int from, int to)
{
if(from>0 && idToIndex_.contains(from))
ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
if(to>0 && idToIndex_.contains(to))
ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
if(from < 0 || to < 0)
{
updateLoopClosuresSlider(from, to);
}
else
{
if(idToIndex_.contains(from))
ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
if(idToIndex_.contains(to))
ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
}
}
void DatabaseViewer::sliderAValueChanged(int value)
@@ -8051,6 +8096,17 @@ void DatabaseViewer::updateGraphView()
ui_->label_timeOptimization->setNum(0);
ui_->label_poses->setNum((int)optPoses.size());
graphes_.push_back(optPoses);
// Just get the links:
std::map<int, rtabmap::Transform> posesOut;
UINFO("Get connected graph from %d (%d poses, %d links)", fromId, (int)poses.size(), (int)links.size());
std::shared_ptr<Optimizer> optimizer(Optimizer::create(parameters));
optimizer->getConnectedGraph(
fromId,
optPoses,
links,
posesOut,
graphLinks_);
UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)graphLinks_.size());
}
ui_->horizontalSlider_rotation->setEnabled(false);
ui_->pushButton_applyRotation->setEnabled(false);