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Reduce graph: added option to remove orphan nodes from WM after reduction (#1735)

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* Reduce graph: remove orphan nodes from WM after reduction

* fixed eror

* ignore ids< 0

* add warning and cleanup only when option is used

* updated feedback

* Abort --sync_wm_and_opt_graph if a lot more WM nodes have to be transferred.

* typo

* refactored... completly

* fixed optimized graph cleared

* updated option description

* updated comment

* Added dummy dictionary function to speedup initialization when we dont need the dictionary fully loaded in memory.

* Fixed nodes weight not modified in db when deleted

* Removed AutoUpdate parameter, not needed

* Fixed dummy dictionary usage for detectMoreLoopClosures. Added checks to disable graph reduction when intermediate nodes are detected.

* updated log
This commit is contained in:
matlabbe
2026-07-29 08:19:13 -07:00
committed by GitHub
parent 5fad2d29c3
commit 89998284bc
12 changed files with 372 additions and 60 deletions
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corelib/include/rtabmap/core/DBDriver.h
+2 -2
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@@ -162,7 +162,7 @@ public:
void executeNoResult(const std::string & sql) const;
// Load objects
void load(VWDictionary & dictionary, bool lastStateOnly = true) const;
void load(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;
void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
@@ -279,7 +279,7 @@ protected:
virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
// Load objects
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const = 0;
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const = 0;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
corelib/include/rtabmap/core/DBDriverSqlite3.h
+1 -1
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@@ -138,7 +138,7 @@ protected:
virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const;
// Load objects
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const;
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
corelib/include/rtabmap/core/Memory.h
+4 -2
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@@ -141,11 +141,12 @@ public:
const std::map<int, Transform> & optimizedPoses,
int maxGraphDepth) const;
void convertToIntermediate(int locationId);
void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
void deleteLocation(int locationId, std::list<int> * deletedWords = 0, bool keepLinkedInDb = false);
void saveLocationData(int locationId);
void removeLink(int idA, int idB);
void removeRawData(int id, bool image = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);
void setDummyDictionary(bool enabled);
//getters
const std::map<int, double> & getWorkingMem() const {return _workingMem;}
@@ -279,7 +280,6 @@ private:
std::list<Signature *> getRemovableSignatures(int count,
const std::set<int> & ignoredIds = std::set<int>());
int getNextId();
void initCountId();
void rehearsal(Signature * signature, Statistics * stats = 0);
bool rehearsalMerge(int oldId, int newId);
bool canBeReduced(const Link & link, float maxDistance, int direction);
@@ -396,6 +396,8 @@ private:
MarkerDetector * _markerDetector;
GlobalDescriptorExtractor * _globalDescriptorExtractor;
bool _dummyDictionary;
};
} // namespace rtabmap
corelib/include/rtabmap/core/Rtabmap.h
+3
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@@ -229,6 +229,7 @@ public:
bool addLink(const Link & link);
cv::Mat getInformation(const cv::Mat & covariance) const;
void addNodesToRepublish(const std::vector<int> & ids);
void setDummyDictionary(bool enabled);
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
void clearPath(int status); // -1=failed 0=idle/executing 1=success
@@ -402,6 +403,8 @@ private:
int _pathStuckCount;
float _pathStuckDistance;
bool _dummyDictionary;
#ifdef RTABMAP_PYTHON
PythonInterface * _python;
#endif
corelib/include/rtabmap/core/Signature.h
+3 -3
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@@ -62,7 +62,7 @@ public:
virtual ~Signature();
/**
* Must return a value between >=0 and <=1 (1 means 100% similarity).
* Must return a value between >=0 and <=1 (1 means 100% similarity).
*/
float compareTo(const Signature & signature) const;
bool isBadSignature() const;
@@ -70,10 +70,10 @@ public:
int id() const {return _id;}
int mapId() const {return _mapId;}
void setWeight(int weight) {_modified=_weight!=weight;_weight = weight;}
void setWeight(int weight) {_modified=_modified || _weight!=weight;_weight = weight;}
int getWeight() const {return _weight;}
void setLabel(const std::string & label) {_modified=_label.compare(label)!=0;_label = label;}
void setLabel(const std::string & label) {_modified=_modified || _label.compare(label)!=0;_label = label;}
const std::string & getLabel() const {return _label;}
double getStamp() const {return _stamp;}