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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.

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This commit is contained in:
matlabbe
2021-06-21 17:23:53 -04:00
parent f475f2d21c
commit 5167927d01
11 changed files with 57 additions and 19 deletions
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4
corelib/include/rtabmap/core/DBDriver.h
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@@ -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;

2
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -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;

7
corelib/include/rtabmap/core/DBReader.h
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@@ -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;