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0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.

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matlabbe
2019-11-03 14:10:02 -05:00
parent 5d789f75a9
commit 179f17d267
17 changed files with 337 additions and 190 deletions
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11
tools/DetectMoreLoopClosures/main.cpp
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UStl.h>
#include <pcl/filters/filter.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
@@ -54,7 +55,7 @@ void showUsage()
" -i # Iterations (default 1).\n"
" --intra Add only intra-session loop closures.\n"
" --inter Add only inter-session loop closures.\n"
"\n");
"\n%s", Parameters::showUsage());
exit(1);
}
@@ -98,7 +99,11 @@ int main(int argc, char * argv[])
bool interSession = false;
for(int i=1; i<argc-1; ++i)
{
if(std::strcmp(argv[i], "--intra") == 0)
if(std::strcmp(argv[i], "--help") == 0)
{
showUsage();
}
else if(std::strcmp(argv[i], "--intra") == 0)
{
intraSession = true;
if(interSession)
@@ -151,6 +156,7 @@ int main(int argc, char * argv[])
}
}
}
ParametersMap inputParams = Parameters::parseArguments(argc, argv);
std::string dbPath = argv[argc-1];
if(!UFile::exists(dbPath))
@@ -193,6 +199,7 @@ int main(int argc, char * argv[])
// Get the global optimized map
Rtabmap rtabmap;
printf("Initialization...\n");
uInsert(parameters, inputParams);
rtabmap.init(parameters, dbPath);
PrintProgressState progress;