mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-07 18:47:48 +08:00
New rtabmap-reduceGraph CLI tool (#1655)
* 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
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matlabbe
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