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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/src/DBDriver.cpp
+2 -2
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@@ -539,10 +539,10 @@ void DBDriver::updateLaserScan(int nodeId, const LaserScan & scan)
_dbSafeAccessMutex.unlock();
}
void DBDriver::load(VWDictionary & dictionary, bool lastStateOnly) const
void DBDriver::load(VWDictionary & dictionary, bool lastStateOnly, bool idsOnly) const
{
_dbSafeAccessMutex.lock();
this->loadQuery(dictionary, lastStateOnly);
this->loadQuery(dictionary, lastStateOnly, idsOnly);
_dbSafeAccessMutex.unlock();
}