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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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6
corelib/src/DBDriver.cpp
View File

@@ -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();
}

13
corelib/src/DBDriverSqlite3.cpp
View File

@@ -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);

19
corelib/src/DBReader.cpp
View File

@@ -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