report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false.

corelib/include/rtabmap/core/DBDriver.h

@@ -173,7 +173,7 @@ public:
 	void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getLastNodeIds(std::set<int> & ids) const;
-	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
+	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const;
 	void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
 	void getLastNodeId(int & id) const;
 	void getLastMapId(int & mapId) const;
@@ -276,7 +276,7 @@ protected:
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
-	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
+	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -141,7 +141,7 @@ protected:
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
-	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
+	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
 	virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;

corelib/include/rtabmap/core/DBReader.h

@@ -52,7 +52,8 @@ public:
 			 bool goalsIgnored = false,
 			 int startId = 0,
 			 int cameraIndex = -1,
-			 int stopId = 0);
+			 int stopId = 0,
+			 bool intermediateNodesIgnored = false);
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
 			 bool odometryIgnored = false,
@@ -60,7 +61,8 @@ public:
 			 bool goalsIgnored = false,
 			 int startId = 0,
 			 int cameraIndex = -1,
-			 int stopId = 0);
+			 int stopId = 0,
+			 bool intermediateNodesIgnored = false);
 	virtual ~DBReader();
 
 	virtual bool init(
@@ -85,6 +87,7 @@ private:
 	int _startId;
 	int _stopId;
 	int _cameraIndex;
+	bool _intermediateNodesIgnored;
 
 	DBDriver * _dbDriver;
 	UTimer _timer;

corelib/src/DBDriver.cpp

@@ -873,7 +873,7 @@ void DBDriver::getLastNodeIds(std::set<int> & ids) const
 	_dbSafeAccessMutex.unlock();
 }
 
-void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const
+void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const
 {
 	// look in the trash
 	_trashesMutex.lock();
@@ -896,7 +896,7 @@ void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool igno
 					}
 				}
 			}
-			if(hasNeighbors)
+			if(hasNeighbors && (!ignoreIntermediateNodes || sIter->second->getWeight() != -1))
 			{
 				ids.insert(sIter->first);
 			}
@@ -908,7 +908,7 @@ void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool igno
 	_trashesMutex.unlock();
 
 	_dbSafeAccessMutex.lock();
-	this->getAllNodeIdsQuery(ids, ignoreChildren, ignoreBadSignatures);
+	this->getAllNodeIdsQuery(ids, ignoreChildren, ignoreBadSignatures, ignoreIntermediateNodes);
 	_dbSafeAccessMutex.unlock();
 }
 

corelib/src/DBDriverSqlite3.cpp

@@ -2396,7 +2396,7 @@ void DBDriverSqlite3::getLastNodeIdsQuery(std::set<int> & ids) const
 	}
 }
 
-void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const
+void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const
 {
 	if(_ppDb)
 	{
@@ -2414,11 +2414,19 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildre
 			query << "ON id = to_id "; // use to_id to ignore all children (which don't have link pointing on them)
 			query << "WHERE from_id != to_id "; // ignore self referring links
 			query << "AND weight>-9 "; //ignore invalid nodes
+			if(ignoreIntermediateNodes)
+			{
+				query << "AND weight!=-1 "; //ignore intermediate nodes
+			}
+		}
+		else if(ignoreIntermediateNodes)
+		{
+			query << "WHERE weight!=-1 "; //ignore intermediate nodes
 		}
 
 		if(ignoreBadSignatures)
 		{
-			if(ignoreChildren)
+			if(ignoreChildren || ignoreIntermediateNodes)
 			{
 				query << "AND ";
 			}
@@ -2435,6 +2443,7 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildre
 				query << " id in (select node_id from Map_Node_Word) ";
 			}
 		}
+
 		query  << "ORDER BY id";
 
 		rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);

corelib/src/DBReader.cpp

@@ -49,7 +49,8 @@ DBReader::DBReader(const std::string & databasePath,
 				   bool goalsIgnored,
 				   int startId,
 				   int cameraIndex,
-				   int stopId) :
+				   int stopId,
+				   bool intermediateNodesIgnored) :
 	Camera(frameRate),
 	_paths(uSplit(databasePath, ';')),
 	_odometryIgnored(odometryIgnored),
@@ -58,6 +59,7 @@ DBReader::DBReader(const std::string & databasePath,
 	_startId(startId),
 	_stopId(stopId),
 	_cameraIndex(cameraIndex),
+	_intermediateNodesIgnored(intermediateNodesIgnored),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousMapId(-1),
@@ -78,7 +80,8 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 				   bool goalsIgnored,
 				   int startId,
 				   int cameraIndex,
-				   int stopId) :
+				   int stopId,
+				   bool intermediateNodesIgnored) :
 	Camera(frameRate),
    _paths(databasePaths),
 	_odometryIgnored(odometryIgnored),
@@ -87,6 +90,7 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 	_startId(startId),
 	_stopId(stopId),
 	_cameraIndex(cameraIndex),
+	_intermediateNodesIgnored(intermediateNodesIgnored),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousMapId(-1),
@@ -341,7 +345,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
 	SensorData data;
 	if(_dbDriver)
 	{
-		if(_currentId != _ids.end())
+		while(_currentId != _ids.end())
 		{
 			std::list<int> signIds;
 			signIds.push_back(*_currentId);
@@ -353,6 +357,14 @@ SensorData DBReader::getNextData(CameraInfo * info)
 			}
 			_dbDriver->loadNodeData(signatures);
 			Signature * s  = signatures.front();
+
+			if(_intermediateNodesIgnored && s->getWeight() == -1)
+			{
+				++_currentId;
+				delete s;
+				continue;
+			}
+
 			data = s->sensorData();
 
 			// info
@@ -558,6 +570,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
 				}
 			}
 			delete s;
+			break;
 		}
 	}
 	else