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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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tools/Reprocess/main.cpp
+5 -3
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@@ -505,10 +505,12 @@ int main(int argc, char * argv[])
bool incrementalMemory = Parameters::defaultMemIncrementalMemory();
Parameters::parse(parameters, Parameters::kMemIncrementalMemory(), incrementalMemory);
Parameters::parse(parameters, Parameters::kDbTargetVersion(), targetVersion);
bool intermediateNodes = Parameters::defaultRtabmapCreateIntermediateNodes();
Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), intermediateNodes);
int totalIds = 0;
std::set<int> ids;
dbDriver->getAllNodeIds(ids);
dbDriver->getAllNodeIds(ids, false, false, !intermediateNodes);
if(ids.empty())
{
printf("Input database doesn't have any nodes saved in it.\n");
@@ -532,7 +534,7 @@ int main(int argc, char * argv[])
return -1;
}
ids.clear();
dbDriver->getAllNodeIds(ids);
dbDriver->getAllNodeIds(ids, false, false, !intermediateNodes);
totalIds += ids.size();
dbDriver->closeConnection(false);
}
@@ -567,7 +569,7 @@ int main(int argc, char * argv[])
bool rgbdEnabled = Parameters::defaultRGBDEnabled();
Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
bool odometryIgnored = !rgbdEnabled;
DBReader * dbReader = new DBReader(inputDatabasePath, useDatabaseRate?-1:0, odometryIgnored, false, false, startId, -1, stopId);
DBReader * dbReader = new DBReader(inputDatabasePath, useDatabaseRate?-1:0, odometryIgnored, false, false, startId, -1, stopId, !intermediateNodes);
dbReader->init();
OccupancyGrid grid(parameters);