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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 */