i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2026-07-13 15:56:16 -07:00
parent 47cb6452bf
commit e59fb26636
1 changed files with 24 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/ReduceGraph/main.cpp
+24 -3
View File
@@ -344,21 +344,42 @@ int main(int argc, char * argv[])
// Synchronize WM and the optimized graph. For all nodes in WM that // Synchronize WM and the optimized graph. For all nodes in WM that
// are not in optimized graph, transfer to LTM. // are not in optimized graph, transfer to LTM.
std::map<int, double> wm = memory.getWorkingMem(); std::map<int, double> wm = memory.getWorkingMem();
bool alreadySync = true; int numToDelete = 0;
// first pass, just doublecheck we are not removing too many nodes
for(std::map<int, double>::iterator iter=wm.lower_bound(0); for(std::map<int, double>::iterator iter=wm.lower_bound(0);
iter!=wm.end(); iter!=wm.end();
++iter) ++iter)
{ {
if(optimizedPoses.find(iter->first) == optimizedPoses.end()) if(optimizedPoses.find(iter->first) == optimizedPoses.end())
{ {
++numToDelete;
memory.deleteLocation(iter->first, 0, true); memory.deleteLocation(iter->first, 0, true);
printf("Transferred %d from WM to LTM.\n", iter->first); printf("Transferred %d from WM to LTM.\n", iter->first);
alreadySync = false;
} }
} }
if(alreadySync) { if(numToDelete==0) {
printf("All nodes in WM are in the optimized graph, no need to transfer anything.\n"); printf("All nodes in WM are in the optimized graph, no need to transfer anything.\n");
} }
else if(numToDelete > (int)optimizedPoses.size())
{
UERROR("Something is wrong, there are more nodes in "
"WM (%ld) not in optimized graph (%d) than there are in (%ld). "
"--sync_wm_and_opt_graph is aborted!", wm.size(), numToDelete, optimizedPoses.size());
}
else
{
printf("%d/%ld nodes from WM (opt graph=%ld) are transferred to LTM.", numToDelete, wm.size(), optimizedPoses.size());
for(std::map<int, double>::iterator iter=wm.lower_bound(0);
iter!=wm.end();
++iter)
{
if(optimizedPoses.find(iter->first) == optimizedPoses.end())
{
memory.deleteLocation(iter->first, 0, true);
printf("Transferred %d from WM to LTM.\n", iter->first);
}
}
}
} }
printf("Saving back %ld optimized poses to database.\n", optimizedPoses.size()); printf("Saving back %ld optimized poses to database.\n", optimizedPoses.size());