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added option to reduceGraph and detectMoreLoopClosures tools

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This commit is contained in:
matlabbe
2026-07-10 20:06:54 -07:00
parent 15109dfa9e
commit 8f63846b66
3 changed files with 63 additions and 4 deletions
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29
tools/DetectMoreLoopClosures/main.cpp
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@@ -59,6 +59,11 @@ void showUsage()
" --intra Add only intra-session loop closures.\n"
" --inter Add only inter-session loop closures.\n"
" --session # Add loop closures only from/to that map session ID (use -1 for last session).\n"
" --track-changes \"changes.update\"\n"
" Record the changes made to the database (added loop closures) and write a compact\n"
" delta to the given file, applied later on another copy with rtabmap-dbupdate.\n"
" Requires the database to be version 0.24 or newer. The changes are held in memory\n"
" until closing, so use this only when a small amount is added.\n"
"\n%s", Parameters::showUsage());
exit(1);
}
@@ -110,12 +115,25 @@ int main(int argc, char * argv[])
bool intraSession = false;
bool interSession = false;
int fromToMapId = -2;
std::string trackChangesOutput;
for(int i=1; i<argc-1; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
{
showUsage();
}
else if(std::strcmp(argv[i], "--track-changes") == 0)
{
++i;
if(i<argc-1)
{
trackChangesOutput = argv[i];
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--intra") == 0)
{
intraSession = true;
@@ -217,6 +235,10 @@ int main(int argc, char * argv[])
{
printf("Inter-session only\n");
}
if(!trackChangesOutput.empty())
{
printf("Track changes = %s\n", trackChangesOutput.c_str());
}
if(!intraSession && !interSession)
{
@@ -252,6 +274,13 @@ int main(int argc, char * argv[])
rtabmap.init(parameters, dbPath);
printf("Initialization... done! (%f sec)\n", timer.ticks());
// Record the changes made below (added loop closures) into a delta, applied later with
// rtabmap-dbupdate. Started after init so the delta reflects only what this tool changes.
if(!trackChangesOutput.empty())
{
rtabmap.trackDatabaseChanges(trackChangesOutput);
}
float xMin, yMin, cellSize;
bool haveOptimizedMap = !rtabmap.getMemory()->load2DMap(xMin, yMin, cellSize).empty();