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Reprocess: added option to stream only one camera (in case of multi-camera database)

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matlabbe
2022-04-06 14:07:23 -04:00
parent 3e630e0250
commit 1857111d7d
1 changed files with 17 additions and 1 deletions
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tools/Reprocess/main.cpp
+17 -1
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@@ -69,6 +69,7 @@ void showUsage()
" arguments, they overwrite those in config file and the database.\n"
" -start # Start from this node ID.\n"
" -stop # Last node to process.\n"
" -cam # Camera index to stream. Ignored if a database doesn't contain multi-camera data.\n"
" -nolandmark Don't republish landmarks contained in input database.\n"
" -loc_null On localization mode, reset localization pose to null and map correction to identity between sessions.\n"
" -gt When reprocessing a single database, load its original optimized graph, then \n"
@@ -225,6 +226,7 @@ int main(int argc, char * argv[])
bool useDatabaseRate = false;
int startId = 0;
int stopId = 0;
int cameraIndex = -1;
int framesToSkip = 0;
bool ignoreLandmarks = false;
bool locNull = false;
@@ -291,6 +293,20 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if (strcmp(argv[i], "-cam") == 0 || strcmp(argv[i], "--cam") == 0)
{
++i;
if(i < argc - 2)
{
cameraIndex = atoi(argv[i]);
printf("Camera index = %d.\n", cameraIndex);
}
else
{
printf("-cam option requires a value\n");
showUsage();
}
}
else if (strcmp(argv[i], "-skip") == 0 || strcmp(argv[i], "--skip") == 0)
{
++i;
@@ -611,7 +627,7 @@ int main(int argc, char * argv[])
bool rgbdEnabled = Parameters::defaultRGBDEnabled();
Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
bool odometryIgnored = !rgbdEnabled;
DBReader * dbReader = new DBReader(inputDatabasePath, useDatabaseRate?-1:0, odometryIgnored, false, false, startId, -1, stopId, !intermediateNodes, ignoreLandmarks);
DBReader * dbReader = new DBReader(inputDatabasePath, useDatabaseRate?-1:0, odometryIgnored, false, false, startId, cameraIndex, stopId, !intermediateNodes, ignoreLandmarks);
dbReader->init();
OccupancyGrid grid(parameters);