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Handling optimization from graph end in repair

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matlabbe
2026-04-30 18:13:05 -07:00
parent ad41df3020
commit d83c5ebf04
1 changed files with 40 additions and 29 deletions
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corelib/src/Rtabmap.cpp
+40 -29
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@@ -3419,10 +3419,6 @@ bool Rtabmap::process(
UWARN("Optimization failed when trying to repair the graph."); UWARN("Optimization failed when trying to repair the graph.");
rejectLocalization = true; rejectLocalization = true;
} }
else
{
UWARN("Successfully repaired the graph.");
}
} }
else { else {
rejectLocalization = true; rejectLocalization = true;
@@ -4195,25 +4191,17 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_ratio(), maxGraphErrors.linearRatio); statistics_.addStatistic(Statistics::kLoopOptimization_max_error_ratio(), maxGraphErrors.linearRatio);
statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error(), maxGraphErrors.angular*180.0f/M_PI); statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error(), maxGraphErrors.angular*180.0f/M_PI);
statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_ratio(), maxGraphErrors.angularRatio); statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_ratio(), maxGraphErrors.angularRatio);
if(maxGraphErrorsLinearIds.first>0) statistics_.addStatistic(Statistics::kLoopOptimization_max_error_from_id(), maxGraphErrorsLinearIds.first);
{ statistics_.addStatistic(Statistics::kLoopOptimization_max_error_to_id(), maxGraphErrorsLinearIds.second);
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_from_id(), maxGraphErrorsLinearIds.first); statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_from_id(), maxGraphErrorsAngularIds.first);
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_to_id(), maxGraphErrorsLinearIds.second); statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_to_id(), maxGraphErrorsAngularIds.second);
} if(_optimizationMaxErrorRepairRadius > 0)
if(maxGraphErrorsAngularIds.first>0)
{
statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_from_id(), maxGraphErrorsAngularIds.first);
statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_to_id(), maxGraphErrorsAngularIds.second);
}
if(maxGraphErrorsRemovedIds.first > 0)
{ {
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_removed_from_id(), maxGraphErrorsRemovedIds.first); statistics_.addStatistic(Statistics::kLoopOptimization_max_error_removed_from_id(), maxGraphErrorsRemovedIds.first);
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_removed_to_id(), maxGraphErrorsRemovedIds.second); statistics_.addStatistic(Statistics::kLoopOptimization_max_error_removed_to_id(), maxGraphErrorsRemovedIds.second);
}
if(maxGraphErrorsRemovedCount > 0)
{
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_removed_count(), maxGraphErrorsRemovedCount); statistics_.addStatistic(Statistics::kLoopOptimization_max_error_removed_count(), maxGraphErrorsRemovedCount);
} }
statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError); statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError);
statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations); statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations);
statistics_.addStatistic(Statistics::kLoopLandmark_detected(), landmarksDetected.empty()?0:-landmarksDetected.begin()->first); statistics_.addStatistic(Statistics::kLoopLandmark_detected(), landmarksDetected.empty()?0:-landmarksDetected.begin()->first);
@@ -5537,29 +5525,52 @@ std::list<std::pair<int, int> > Rtabmap::repairGraph(
int originalMaxErrorLinkTo = maxGraphErrors.linearLink->to(); int originalMaxErrorLinkTo = maxGraphErrors.linearLink->to();
graph::MaxGraphErrors subMaxGraphErrors = maxGraphErrors; graph::MaxGraphErrors subMaxGraphErrors = maxGraphErrors;
std::multimap<int, Link> subConstraintsOut = constraints;
int fromId = poses.lower_bound(1)->first;
std::list<std::pair<int, int> > removedLinks; std::list<std::pair<int, int> > removedLinks;
std::map<int, Transform> subPoses = poses;
std::multimap<int, Link> subConstraints = constraints;
while(subMaxGraphErrors.linearLink!=0 && subMaxGraphErrors.linearRatio > _optimizationMaxError) while(subMaxGraphErrors.linearLink!=0 && subMaxGraphErrors.linearRatio > _optimizationMaxError)
{ {
std::map<int, Transform> posesOut;
std::multimap<int, Link> subConstraintsIn = subConstraintsOut;
removedLinks.push_back(std::make_pair(subMaxGraphErrors.linearLink->from(), subMaxGraphErrors.linearLink->to())); removedLinks.push_back(std::make_pair(subMaxGraphErrors.linearLink->from(), subMaxGraphErrors.linearLink->to()));
subConstraintsIn.erase(graph::findLink(subConstraintsIn, subMaxGraphErrors.linearLink->from(), subMaxGraphErrors.linearLink->to())); subConstraints.erase(graph::findLink(subConstraints, subMaxGraphErrors.linearLink->from(), subMaxGraphErrors.linearLink->to()));
subMaxGraphErrors.linearLink = 0; subMaxGraphErrors.linearLink = 0;
_graphOptimizer->getConnectedGraph(fromId, poses, subConstraintsIn, posesOut, subConstraintsOut);
// Get connected graph just to check if a node got disconnected (localization mode)
std::map<int, Transform> posesOut;
std::multimap<int, Link> subConstraintsOut;
_graphOptimizer->getConnectedGraph(subPoses.rbegin()->first, subPoses, subConstraints, posesOut, subConstraintsOut);
if(subPoses.size() - posesOut.size() > 1)
{
UWARN("More than one pose filtered in one iteration when trying to repair graph. Aborting repairing.");
break;
}
else if(subPoses.size() != posesOut.size())
{
for(std::map<int, Transform>::iterator pter=subPoses.begin(); pter!=subPoses.end(); ++pter)
{
if(posesOut.find(pter->first) == posesOut.end())
{
subPoses.erase(pter);
break; // should be only one if different, break now
}
}
}
cv::Mat subOptimizationCovariance; cv::Mat subOptimizationCovariance;
double subOptimizationError = 0.0; double subOptimizationError = 0.0;
int subOptimizationIterations = 0; int subOptimizationIterations = 0;
std::map<int, Transform> subPoses = _graphOptimizer->optimize(fromId, posesOut, subConstraintsOut, subOptimizationCovariance, 0, &subOptimizationError, &subOptimizationIterations);
subPoses = _graphOptimizer->optimize(
_optimizeFromGraphEnd ? subPoses.rbegin()->first : subPoses.lower_bound(1)->first,
subPoses,
subConstraintsOut,
subOptimizationCovariance,
0,
&subOptimizationError,
&subOptimizationIterations);
if(subPoses.empty()) if(subPoses.empty())
{ {
UWARN("Optimization failed when trying to repair graph."); UWARN("Optimization failed when trying to repair graph.");
} }
else if(subPoses.size() != poses.size())
{
UWARN("Graph split when trying to repair graph. Aborting repairing.");
}
else else
{ {
subMaxGraphErrors = graph::computeMaxGraphErrors( subMaxGraphErrors = graph::computeMaxGraphErrors(