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Reprocess: added -track_changes option. Added rtabmap-dpupdate.

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matlabbe
2026-07-10 19:39:22 -07:00
parent e321999b15
commit 15109dfa9e
19 changed files with 179202 additions and 47017 deletions
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36
tools/Reprocess/main.cpp
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@@ -85,6 +85,11 @@ void showUsage()
" -stop_loop Stop after the first loop closure is detected.\n"
" -a Append mode: if Mem/IncrementalMemory is true, RTAB-Map is initialized with the first input database,\n"
" then next databases are reprocessed on top of the first one.\n"
" --track-changes \"changes.update\"\n"
" Only with append mode (-a): record the changes made on top of the first (copied) database and\n"
" write a compact delta to the given file. Apply it later on the original database with\n"
" rtabmap-dbupdate. Requires the database to be version 0.24 or newer. Note: the recorded\n"
" changes are held in memory until closing, so use this only when appending a small amount.\n"
" -cam # Camera index to stream. Ignored if a database doesn't contain multi-camera data. Can also be multiple \n"
" indices split by spaces in a string like \"0 2\" to stream cameras 0 and 2 only.\n"
" -cam_tf \"x y z roll pitch yaw\" Camera local transform override(s) without optical rotation. For multi-cameras, \n"
@@ -274,6 +279,7 @@ int main(int argc, char * argv[])
int stopMapId = -1;
bool stopOnLoopClosure = false;
bool appendMode = false;
std::string trackChangesOutput;
std::vector<unsigned int> cameraIndices;
std::vector<Transform> cameraLocalTransformOverrides;
std::vector<float> cameraLocalTransformOffsetOverrides;
@@ -430,6 +436,20 @@ int main(int argc, char * argv[])
appendMode = true;
printf("Append mode enabled (initialize with first database then reprocess next ones)\n");
}
else if (strcmp(argv[i], "--track-changes") == 0)
{
++i;
if(i < argc - 2)
{
trackChangesOutput = argv[i];
printf("Change tracking enabled, delta will be written to \"%s\" (apply later with rtabmap-dbupdate).\n", trackChangesOutput.c_str());
}
else
{
printf("Missing value for --track-changes option!\n");
showUsage();
}
}
else if (strcmp(argv[i], "-cam") == 0 || strcmp(argv[i], "--cam") == 0)
{
++i;
@@ -886,6 +906,22 @@ int main(int argc, char * argv[])
Rtabmap rtabmap;
rtabmap.init(parameters, outputDatabasePath);
// Start change tracking now, after init loaded the copied baseline database, so the
// delta captures only what reprocessing appends. Only meaningful in append mode, where
// the output starts as a copy of the first input database.
if(!trackChangesOutput.empty())
{
if(appendMode)
{
rtabmap.trackDatabaseChanges(trackChangesOutput);
}
else
{
printf("Warning: --track-changes requires append mode (-a); it is ignored because "
"append mode is not enabled.\n");
}
}
if(!incrementalMemory && locNull)
{
rtabmap.setInitialPose(Transform());