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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/DBDriverSqlite3.cpp
+11 -2
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@@ -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);