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fixed optimized graph cleared

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matlabbe
2026-07-14 17:56:03 -07:00
parent 61ea94db8d
commit f5c424a49d
1 changed files with 6 additions and 3 deletions
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tools/ReduceGraph/main.cpp
+6 -3
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@@ -207,7 +207,7 @@ int main(int argc, char * argv[])
linksOut);
isWholeGraphConnected = posesOut.size() == poses.size();
printf("Whole optimized graph is connected: %s (%ld/%ld)\n", isWholeGraphConnected?"true":"false", posesOut.size(), ids.size());
printf("Whole optimized graph%s is connected (%ld/%ld)\n", isWholeGraphConnected?"":" not", posesOut.size(), ids.size());
}
int totalNodesReduced = 0;
@@ -252,6 +252,11 @@ int main(int argc, char * argv[])
}
}
// Get local optimized graph before reduction
Transform lastLocalizationPose;
std::map<int, Transform> optimizedPoses = memory.loadOptimizedPoses(&lastLocalizationPose);
// Graph reduction
for(auto id: vids)
{
// Nodes can be already reduced by other nodes, check if they are still there
@@ -323,8 +328,6 @@ int main(int argc, char * argv[])
}
} // else: we cannot detect orphan nodes if the original graph was not all connected.
Transform lastLocalizationPose;
std::map<int, Transform> optimizedPoses = memory.loadOptimizedPoses(&lastLocalizationPose);
if(!optimizedPoses.empty())
{
size_t removed = 0;