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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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tools/Reprocess/main.cpp
+31 -16
View File
@@ -57,7 +57,7 @@ void showUsage()
" rtabmap-reprocess [options] \"input.db\" \"output.db\"\n"
" rtabmap-reprocess [options] \"input1.db;input2.db;input3.db\" \"output.db\"\n"
"\n"
" For the second example, only parameters from the first database are used.\n"
" For the second example, only parameters from the first database are used (unless -params_last or -default are used).\n"
" If Mem/IncrementalMemory is false, RTAB-Map is initialized with the first input database,\n"
" then localization-only is done with next databases against the first one.\n"
" To see warnings when loop closures are rejected, add \"--uwarn\" argument.\n"
@@ -71,6 +71,7 @@ void showUsage()
" from the database. If custom parameters are also set as \n"
" arguments, they overwrite those in config file and the database.\n"
" -default Input database's parameters are ignored, using default ones instead.\n"
" -params_last Parameters of the last database is used instead of the first one (ignored if -default is also used).\n"
" -odom Recompute odometry. See \"Odom/\" parameters with --params. If -skip option\n"
" is used, it will be applied to odometry frames, not rtabmap frames. Multi-session\n"
" may not be detected correctly if the input covariance between sessions doesn't have 9999.\n"
@@ -260,6 +261,7 @@ int main(int argc, char * argv[])
bool assemble3dOctoMap = false;
bool useDatabaseRate = false;
bool useDefaultParameters = false;
bool useLastDatabaseParameters = false;
bool recomputeOdometry = false;
bool useInputOdometryAsGuess = false;
double odomLinVarOverride = 0.0;
@@ -318,6 +320,10 @@ int main(int argc, char * argv[])
useDefaultParameters = true;
printf("Using default parameters.\n");
}
else if(strcmp(argv[i], "-params_last") == 0 || strcmp(argv[i], "--params_last") == 0)
{
useLastDatabaseParameters = true;
}
else if(strcmp(argv[i], "-odom") == 0 || strcmp(argv[i], "--odom") == 0)
{
recomputeOdometry = true;
@@ -683,11 +689,10 @@ int main(int argc, char * argv[])
}
// Get parameters of the first database
DBDriver * dbDriver = DBDriver::create();
std::shared_ptr<DBDriver> dbDriver(DBDriver::create());
if(!dbDriver->openConnection(databases.front(), false))
{
printf("Failed opening input database!\n");
delete dbDriver;
printf("Failed opening the input database!\n");
return 1;
}
@@ -695,13 +700,28 @@ int main(int argc, char * argv[])
std::string targetVersion;
if(!useDefaultParameters)
{
parameters = dbDriver->getLastParameters();
targetVersion = dbDriver->getDatabaseVersion();
parameters.insert(ParametersPair(Parameters::kDbTargetVersion(), targetVersion));
if(databases.size() > 1 && useLastDatabaseParameters)
{
printf("Using last database's parameters.\n");
std::shared_ptr<DBDriver> lastDbDriver(DBDriver::create());
if(!lastDbDriver->openConnection(databases.back(), true))
{
printf("Failed opening the last input database!\n");
return 1;
}
parameters = lastDbDriver->getLastParameters();
targetVersion = lastDbDriver->getDatabaseVersion();
}
else
{
parameters = dbDriver->getLastParameters();
targetVersion = dbDriver->getDatabaseVersion();
}
if(parameters.empty())
{
printf("WARNING: Failed getting parameters from database, reprocessing will be done with default parameters! Database version may be too old (%s).\n", dbDriver->getDatabaseVersion().c_str());
printf("WARNING: Failed getting parameters from database, reprocessing will be done with default parameters! Database version may be too old (%s).\n", targetVersion.c_str());
}
parameters.insert(ParametersPair(Parameters::kDbTargetVersion(), targetVersion));
}
if(customParameters.size())
@@ -800,7 +820,6 @@ int main(int argc, char * argv[])
{
printf("Input database doesn't have any nodes saved in it.\n");
dbDriver->closeConnection(false);
delete dbDriver;
return 1;
}
if(!((!incrementalMemory || appendMode) && databases.size() > 1))
@@ -822,7 +841,6 @@ int main(int argc, char * argv[])
if (!dbDriver->openConnection(*iter, false))
{
printf("Failed opening input database!\n");
delete dbDriver;
return 1;
}
ids.clear();
@@ -830,8 +848,7 @@ int main(int argc, char * argv[])
totalIds += ids.size();
dbDriver->closeConnection(false);
}
delete dbDriver;
dbDriver = 0;
dbDriver.reset();
std::string workingDirectory = UDirectory::getDir(outputDatabasePath);
printf("Set working directory to \"%s\".\n", workingDirectory.c_str());
@@ -1386,13 +1403,12 @@ int main(int argc, char * argv[])
{
if(save2DMap)
{
DBDriver * driver = DBDriver::create();
std::shared_ptr<DBDriver> driver(DBDriver::create());
if(driver->openConnection(outputDatabasePath))
{
driver->save2DMap(map, xMin, yMin, grid.getCellSize());
printf("Saving occupancy grid to database... done!\n");
}
delete driver;
}
else
{
@@ -1481,13 +1497,12 @@ int main(int argc, char * argv[])
{
if(save2DMap)
{
DBDriver * driver = DBDriver::create();
std::shared_ptr<DBDriver> driver(DBDriver::create());
if(driver->openConnection(outputDatabasePath))
{
driver->save2DMap(map, xMin, yMin, cellSize);
printf("Saving occupancy grid to database... done!\n");
}
delete driver;
}
else
{