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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/DBReader.cpp
+16 -3
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@@ -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