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.

corelib/include/rtabmap/core/DBDriver.h

@@ -173,7 +173,7 @@ public:
 	void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getLastNodeIds(std::set<int> & ids) const;
-	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
+	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const;
 	void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
 	void getLastNodeId(int & id) const;
 	void getLastMapId(int & mapId) const;
@@ -276,7 +276,7 @@ protected:
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
-	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
+	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -141,7 +141,7 @@ protected:
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
-	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
+	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
 	virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;

corelib/include/rtabmap/core/DBReader.h

@@ -52,7 +52,8 @@ public:
 			 bool goalsIgnored = false,
 			 int startId = 0,
 			 int cameraIndex = -1,
-			 int stopId = 0);
+			 int stopId = 0,
+			 bool intermediateNodesIgnored = false);
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
 			 bool odometryIgnored = false,
@@ -60,7 +61,8 @@ public:
 			 bool goalsIgnored = false,
 			 int startId = 0,
 			 int cameraIndex = -1,
-			 int stopId = 0);
+			 int stopId = 0,
+			 bool intermediateNodesIgnored = false);
 	virtual ~DBReader();
 
 	virtual bool init(
@@ -85,6 +87,7 @@ private:
 	int _startId;
 	int _stopId;
 	int _cameraIndex;
+	bool _intermediateNodesIgnored;
 
 	DBDriver * _dbDriver;
 	UTimer _timer;

corelib/src/DBDriver.cpp

@@ -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();
 }
 

corelib/src/DBDriverSqlite3.cpp

@@ -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);

corelib/src/DBReader.cpp

@@ -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

guilib/src/CloudViewer.cpp

@@ -136,7 +136,7 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
 		_frontfaceCulling(false),
 		_renderingRate(5.0),
 		_octomapActor(0),
-		_intensityAbsMax(0.0f),
+		_intensityAbsMax(100.0f),
 		_coordinateFrameScale(1.0)
 {
 	UDEBUG("");

guilib/src/ExportCloudsDialog.cpp

@@ -3736,6 +3736,10 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 					_ui->spinBox_filteringMinNeighbors->value() > 0)
 				{
 					indices = util3d::radiusFiltering(cloud, indices, _ui->doubleSpinBox_filteringRadius->value(), _ui->spinBox_filteringMinNeighbors->value());
+					if(indices->empty())
+					{
+						UWARN("Point cloud %d doesn't have anymore points (had %d points) after radius filtering.", iter->first, (int)cloud->size());
+					}
 				}
 			}
 

guilib/src/PreferencesDialog.cpp

@@ -6271,7 +6271,8 @@ Camera * PreferencesDialog::createCamera(
 				_ui->source_checkBox_ignoreGoals->isChecked(),
 				_ui->source_spinBox_databaseStartId->value(),
 				_ui->source_spinBox_database_cameraIndex->value(),
-				_ui->source_spinBox_databaseStopId->value());
+				_ui->source_spinBox_databaseStopId->value(),
+				!_ui->general_checkBox_createIntermediateNodes->isChecked());
 	}
 	else
 	{

tools/Report/main.cpp

@@ -78,6 +78,7 @@ void showUsage()
 			"                       session for 1=min,2=max,4=mean,8=stddev,16=total,32=nonnull%%\n"
 			"    --loc_delay #      Delay to split sessions for localization statistics (default 60 seconds)\n"
 			"                       (it is a mask, we can combine those numbers, e.g., 63 for all) \n"
+			"    --ignore_inter_nodes  Ignore intermediate poses and statistics.\n"
 			"    --help             Show usage\n\n");
 	exit(1);
 }
@@ -135,6 +136,7 @@ int main(int argc, char * argv[])
 	bool outputLoopAccuracy = false;
 	bool showAvailableStats = false;
 	bool invertFigures = false;
+	bool ignoreInterNodes = false;
 	bool useIds = false;
 	int startId = 0;
 	bool exportFigures = false;
@@ -191,6 +193,10 @@ int main(int argc, char * argv[])
 		{
 			useIds = true;
 		}
+		else if(strcmp(argv[i],"--ignore_inter_nodes") == 0)
+		{
+			ignoreInterNodes = true;
+		}
 		else if(strcmp(argv[i],"--export") == 0)
 		{
 			exportFigures = true;
@@ -372,7 +378,7 @@ int main(int argc, char * argv[])
 					params = driver->getLastParameters();
 					ULogger::setLevel(ULogger::kWarning);
 					std::set<int> ids;
-					driver->getAllNodeIds(ids);
+					driver->getAllNodeIds(ids, false, false, ignoreInterNodes);
 					std::map<int, std::pair<std::map<std::string, float>, double> > stats = driver->getAllStatistics();
 					std::map<int, Transform> odomPoses, gtPoses;
 					std::map<int, double> odomStamps;

tools/Reprocess/main.cpp

@@ -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);