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DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database.

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This commit is contained in:
matlabbe
2020-04-22 16:20:29 -04:00
parent 012439aa0b
commit 94360e19e0
5 changed files with 75 additions and 47 deletions
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13
corelib/include/rtabmap/core/DBReader.h
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@@ -50,17 +50,17 @@ public:
bool odometryIgnored = false,
bool ignoreGoalDelay = false,
bool goalsIgnored = false,
int startIndex = 0,
int startId = 0,
int cameraIndex = -1,
int maxFrames = 0);
int stopId = 0);
DBReader(const std::list<std::string> & databasePaths,
float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
bool odometryIgnored = false,
bool ignoreGoalDelay = false,
bool goalsIgnored = false,
int startIndex = 0,
int startId = 0,
int cameraIndex = -1,
int maxFrames = 0);
int stopId = 0);
virtual ~DBReader();
virtual bool init(
@@ -82,8 +82,8 @@ private:
bool _odometryIgnored;
bool _ignoreGoalDelay;
bool _goalsIgnored;
int _startIndex;
int _maxFrames;
int _startId;
int _stopId;
int _cameraIndex;
DBDriver * _dbDriver;
@@ -95,7 +95,6 @@ private:
double _previousStamp;
int _previousMapID;
bool _calibrated;
int _framesPublished;
};
} /* namespace rtabmap */

44
corelib/src/DBReader.cpp
View File

@@ -47,25 +47,28 @@ DBReader::DBReader(const std::string & databasePath,
bool odometryIgnored,
bool ignoreGoalDelay,
bool goalsIgnored,
int startIndex,
int stopId,
int cameraIndex,
int maxFrames) :
int endId) :
Camera(frameRate),
_paths(uSplit(databasePath, ';')),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_startIndex(startIndex),
_maxFrames(maxFrames),
_startId(stopId),
_stopId(endId),
_cameraIndex(cameraIndex),
_dbDriver(0),
_currentId(_ids.end()),
_previousMapId(-1),
_previousStamp(0),
_previousMapID(0),
_calibrated(false),
_framesPublished(0)
_calibrated(false)
{
if(_stopId>0 && _stopId<_startId)
{
_stopId = _startId;
}
}
DBReader::DBReader(const std::list<std::string> & databasePaths,
@@ -73,25 +76,28 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
bool odometryIgnored,
bool ignoreGoalDelay,
bool goalsIgnored,
int startIndex,
int stopId,
int cameraIndex,
int maxFrames) :
int endId) :
Camera(frameRate),
_paths(databasePaths),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_startIndex(startIndex),
_maxFrames(maxFrames),
_startId(stopId),
_stopId(endId),
_cameraIndex(cameraIndex),
_dbDriver(0),
_currentId(_ids.end()),
_previousMapId(-1),
_previousStamp(0),
_previousMapID(0),
_calibrated(false),
_framesPublished(0)
_calibrated(false)
{
if(_stopId>0 && _stopId<_startId)
{
_stopId = _startId;
}
}
DBReader::~DBReader()
@@ -120,7 +126,6 @@ bool DBReader::init(
_previousStamp = 0;
_previousMapID = 0;
_calibrated = false;
_framesPublished = 0;
if(_paths.size() == 0)
{
@@ -153,12 +158,12 @@ bool DBReader::init(
_dbDriver->getAllNodeIds(_ids);
_currentId = _ids.begin();
if(_startIndex>0 && _ids.size())
if(_startId>0 && _ids.size())
{
std::set<int>::iterator iter = uIteratorAt(_ids, _startIndex);
std::set<int>::iterator iter = _ids.find(_startId);
if(iter == _ids.end())
{
UWARN("Start index is too high (%d), the last in database is %d. Starting from beginning...", _startIndex, _ids.size()-1);
UWARN("Start index is too high (%d), the last ID in database is %d. Starting from beginning...", _startId, *_ids.rbegin());
}
else
{
@@ -219,13 +224,12 @@ std::string DBReader::getSerial() const
SensorData DBReader::captureImage(CameraInfo * info)
{
if(_maxFrames>0 && ++_framesPublished > _maxFrames)
SensorData data = this->getNextData(info);
if(data.id()>0 && _stopId>0 && data.id() > _stopId)
{
UINFO("Maximum frames (%d) reached!", _maxFrames);
UINFO("Last ID %d has been reached! Ignoring", _stopId);
return SensorData();
}
SensorData data = this->getNextData(info);
if(data.id() == 0)
{
UINFO("no more images...");