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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/PostProcessingDialog.cpp
+13
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@@ -82,6 +82,7 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->intraSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->interSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->minGraphDistance, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -150,6 +151,7 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("iterations", this->iterations());
settings.setValue("intra_session", this->intraSession());
settings.setValue("inter_session", this->interSession());
settings.setValue("min_graph_distance", this->minGraphDistance());
settings.setValue("refine_neigbors", this->isRefineNeighborLinks());
settings.setValue("refine_lc", this->isRefineLoopClosureLinks());
settings.setValue("sba", this->isSBA());
@@ -175,6 +177,7 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setIterations(settings.value("iterations", this->iterations()).toInt());
this->setIntraSession(settings.value("intra_session", this->intraSession()).toBool());
this->setInterSession(settings.value("inter_session", this->interSession()).toBool());
this->setMinGraphDistance(settings.value("min_graph_distance", this->minGraphDistance()).toInt());
this->setRefineNeighborLinks(settings.value("refine_neigbors", this->isRefineNeighborLinks()).toBool());
this->setRefineLoopClosureLinks(settings.value("refine_lc", this->isRefineLoopClosureLinks()).toBool());
this->setSBA(settings.value("sba", this->isSBA()).toBool());
@@ -197,6 +200,7 @@ void PostProcessingDialog::restoreDefaults()
setIterations(5);
setIntraSession(true);
setInterSession(true);
setMinGraphDistance(10);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
@@ -254,6 +258,11 @@ bool PostProcessingDialog::interSession() const
return _ui->interSession->isChecked();
}
int PostProcessingDialog::minGraphDistance() const
{
return _ui->minGraphDistance->value();
}
bool PostProcessingDialog::isRefineNeighborLinks() const
{
return _ui->refineNeighborLinks->isChecked();
@@ -311,6 +320,10 @@ void PostProcessingDialog::setInterSession(bool enabled)
{
_ui->interSession->setChecked(enabled);
}
void PostProcessingDialog::setMinGraphDistance(int value)
{
_ui->minGraphDistance->setValue(value);
}
void PostProcessingDialog::setRefineNeighborLinks(bool on)
{
_ui->refineNeighborLinks->setChecked(on);