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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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25
tools/DetectMoreLoopClosures/main.cpp
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@@ -63,14 +63,7 @@ void showUsage()
exit(1);
}
// catch ctrl-c
bool g_loopForever = true;
void sighandler(int sig)
{
printf("\nSignal %d caught...\n", sig);
g_loopForever = false;
}
class PrintProgressState : public ProgressState
{
public:
@@ -86,6 +79,15 @@ public:
private:
double stamp_;
};
PrintProgressState progress;
// catch ctrl-c
void sighandler(int sig)
{
printf("\nSignal %d caught...\n", sig);
g_loopForever = false;
progress.setCanceled(true);
}
int main(int argc, char * argv[])
{
@@ -94,7 +96,7 @@ int main(int argc, char * argv[])
signal(SIGINT, &sighandler);
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kError);
ULogger::setLevel(ULogger::kWarning);
if(argc < 2)
{
@@ -195,7 +197,7 @@ int main(int argc, char * argv[])
// Add some optimizations (soft set, can be overriden by arguments)
inputParams.insert(ParametersPair(Parameters::kMemLoadVisualLocalFeaturesOnInit(), "false")); // don't need features already loaded in RAM
inputParams.insert(ParametersPair(Parameters::kKpNNStrategy(), "3")); // don't need flann index
inputParams.insert(ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // should be incremental to update links
std::string dbPath = argv[argc-1];
if(!UFile::exists(dbPath))
@@ -245,6 +247,7 @@ int main(int argc, char * argv[])
Rtabmap rtabmap;
printf("Initialization...\n");
UTimer timer;
ParametersMap originalParameters = parameters;
uInsert(parameters, inputParams);
rtabmap.init(parameters, dbPath);
printf("Initialization... done! (%f sec)\n", timer.ticks());
@@ -267,7 +270,6 @@ int main(int argc, char * argv[])
printf("From/To Session ID = %d%s\n", fromToMapId, last?" (last session)":"");
}
PrintProgressState progress;
printf("Detecting...\n");
int detected = rtabmap.detectMoreLoopClosures(clusterRadiusMax, clusterAngle, iterations, intraSession, interSession, &progress, clusterRadiusMin, fromToMapId);
if(detected < 0)
@@ -306,6 +308,9 @@ int main(int argc, char * argv[])
}
}
// Restore original parameters before saving back the database
rtabmap.parseParameters(originalParameters);
rtabmap.close();
return 0;