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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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriverSqlite3.cpp
+29 -22
View File
@@ -3538,7 +3538,7 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes, bool lo
}
}
void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly) const
void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly, bool idsOnly) const
{
ULOGGER_DEBUG("");
if(_ppDb)
@@ -3552,7 +3552,12 @@ void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly) c
std::list<VisualWord *> visualWords;
// Get the visual words
query << "SELECT id, descriptor_size, descriptor FROM Word ";
query << "SELECT id";
if(!idsOnly)
{
query << ", descriptor_size, descriptor";
}
query << " FROM Word ";
if(lastStateOnly)
{
if(uStrNumCmp(_version, "0.11.11") >= 0)
@@ -3581,27 +3586,29 @@ void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly) c
int index=0;
id = sqlite3_column_int(ppStmt, index++); // VisualWord Id
descriptorSize = sqlite3_column_int(ppStmt, index++); // VisualWord descriptor size
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
cv::Mat d;
if(dRealSize == descriptorSize)
{
// CV_8U binary descriptors
d = cv::Mat(1, descriptorSize, CV_8U);
}
else if(dRealSize/int(sizeof(float)) == descriptorSize)
{
// CV_32F
d = cv::Mat(1, descriptorSize, CV_32F);
}
else
{
UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
}
if(!idsOnly) {
descriptorSize = sqlite3_column_int(ppStmt, index++); // VisualWord descriptor size
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
memcpy(d.data, descriptor, dRealSize);
if(dRealSize == descriptorSize)
{
// CV_8U binary descriptors
d = cv::Mat(1, descriptorSize, CV_8U);
}
else if(dRealSize/int(sizeof(float)) == descriptorSize)
{
// CV_32F
d = cv::Mat(1, descriptorSize, CV_32F);
}
else
{
UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
}
memcpy(d.data, descriptor, dRealSize);
}
VisualWord * vw = new VisualWord(id, d);
vw->setSaved(true);
dictionary.addWord(vw);
@@ -3621,7 +3628,7 @@ void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly) c
getLastWordId(id);
dictionary.setLastWordId(id);
if(uStrNumCmp(_version, "0.23.0") >= 0) {
if(!idsOnly && uStrNumCmp(_version, "0.23.0") >= 0) {
// load dictionary index
std::stringstream query3;
query3 << "SELECT dictionary_index "