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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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corelib/src/DBDriver.cpp
+3 -3
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@@ -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();
}