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

corelib/include/rtabmap/core/DBReader.h

@@ -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 _startId;
-	int _maxFrames;
+	int _stopId;
 	int _cameraIndex;
 
 	DBDriver * _dbDriver;
@@ -95,7 +95,6 @@ private:
 	double _previousStamp;
 	int _previousMapID;
 	bool _calibrated;
-	int _framesPublished;
 };
 
 } /* namespace rtabmap */

corelib/src/DBReader.cpp

@@ -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),
+	_startId(stopId),
-	_maxFrames(maxFrames),
+	_stopId(endId),
 	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousMapId(-1),
 	_previousStamp(0),
 	_previousMapID(0),
-	_calibrated(false),
+	_calibrated(false)
-	_framesPublished(0)
 {
+	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),
+	_startId(stopId),
-	_maxFrames(maxFrames),
+	_stopId(endId),
 	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousMapId(-1),
 	_previousStamp(0),
 	_previousMapID(0),
-	_calibrated(false),
+	_calibrated(false)
-	_framesPublished(0)
 {
+	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...");

guilib/src/PreferencesDialog.cpp

@@ -611,8 +611,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->source_checkBox_ignoreOdometry, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_checkBox_ignoreGoalDelay, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_checkBox_ignoreGoals, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->source_spinBox_databaseStartId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->source_spinBox_databaseMaxFrames, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->source_spinBox_databaseStopId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_spinBox_database_cameraIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 
@@ -1771,8 +1771,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->source_checkBox_ignoreOdometry->setChecked(false);
 		_ui->source_checkBox_ignoreGoalDelay->setChecked(true);
 		_ui->source_checkBox_ignoreGoals->setChecked(true);
-		_ui->source_spinBox_databaseStartPos->setValue(0);
+		_ui->source_spinBox_databaseStartId->setValue(0);
-		_ui->source_spinBox_databaseMaxFrames->setValue(0);
+		_ui->source_spinBox_databaseStopId->setValue(0);
 		_ui->source_spinBox_database_cameraIndex->setValue(-1);
 		_ui->source_checkBox_useDbStamps->setChecked(true);
 
@@ -2384,8 +2384,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->source_checkBox_ignoreOdometry->setChecked(settings.value("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()).toBool());
 	_ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool());
 	_ui->source_checkBox_ignoreGoals->setChecked(settings.value("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()).toBool());
-	_ui->source_spinBox_databaseStartPos->setValue(settings.value("startPos", _ui->source_spinBox_databaseStartPos->value()).toInt());
+	_ui->source_spinBox_databaseStartId->setValue(settings.value("startId", _ui->source_spinBox_databaseStartId->value()).toInt());
-	_ui->source_spinBox_databaseMaxFrames->setValue(settings.value("maxFrames", _ui->source_spinBox_databaseMaxFrames->value()).toInt());
+	_ui->source_spinBox_databaseStopId->setValue(settings.value("stopId", _ui->source_spinBox_databaseStopId->value()).toInt());
 	_ui->source_spinBox_database_cameraIndex->setValue(settings.value("cameraIndex", _ui->source_spinBox_database_cameraIndex->value()).toInt());
 	_ui->source_checkBox_useDbStamps->setChecked(settings.value("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()).toBool());
 	settings.endGroup(); // Database
@@ -2849,8 +2849,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("ignoreOdometry",    _ui->source_checkBox_ignoreOdometry->isChecked());
 	settings.setValue("ignoreGoalDelay",   _ui->source_checkBox_ignoreGoalDelay->isChecked());
 	settings.setValue("ignoreGoals",       _ui->source_checkBox_ignoreGoals->isChecked());
-	settings.setValue("startPos",          _ui->source_spinBox_databaseStartPos->value());
+	settings.setValue("startId",          _ui->source_spinBox_databaseStartId->value());
-	settings.setValue("maxFrames",          _ui->source_spinBox_databaseMaxFrames->value());
+	settings.setValue("stopId",          _ui->source_spinBox_databaseStopId->value());
 	settings.setValue("cameraIndex",       _ui->source_spinBox_database_cameraIndex->value());
 	settings.setValue("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked());
 	settings.endGroup(); // Database
@@ -3669,8 +3669,8 @@ void PreferencesDialog::selectSourceDatabase()
 		}
 
 		_ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";"));
-		_ui->source_spinBox_databaseStartPos->setValue(0);
+		_ui->source_spinBox_databaseStartId->setValue(0);
-		_ui->source_spinBox_databaseMaxFrames->setValue(0);
+		_ui->source_spinBox_databaseStopId->setValue(0);
 		_ui->source_spinBox_database_cameraIndex->setValue(-1);
 	}
 }
@@ -5758,9 +5758,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 				_ui->source_checkBox_ignoreOdometry->isChecked(),
 				_ui->source_checkBox_ignoreGoalDelay->isChecked(),
 				_ui->source_checkBox_ignoreGoals->isChecked(),
-				_ui->source_spinBox_databaseStartPos->value(),
+				_ui->source_spinBox_databaseStartId->value(),
 				_ui->source_spinBox_database_cameraIndex->value(),
-				_ui->source_spinBox_databaseMaxFrames->value());
+				_ui->source_spinBox_databaseStopId->value());
 	}
 	else
 	{

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-224</y>
             <width>680</width>
             <height>3310</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>36</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3109,7 +3109,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>0</number>
+                       <number>3</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -5665,7 +5665,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item row="5" column="1">
                             <widget class="QLabel" name="label_58">
                              <property name="text">
-                              <string>Start position (index).</string>
+                              <string>Start position (node ID).</string>
                              </property>
                              <property name="textInteractionFlags">
                               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
@@ -5673,7 +5673,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                             </widget>
                            </item>
                            <item row="5" column="0">
-                            <widget class="QSpinBox" name="source_spinBox_databaseStartPos">
+                            <widget class="QSpinBox" name="source_spinBox_databaseStartId">
                              <property name="minimum">
                               <number>0</number>
                              </property>
@@ -5761,7 +5761,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item row="6" column="1">
                             <widget class="QLabel" name="label_529">
                              <property name="text">
-                              <string>Maximum frames after start position. 0 means publishing all frames.</string>
+                              <string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
+                             </property>
+                             <property name="wordWrap">
+                              <bool>true</bool>
                              </property>
                              <property name="textInteractionFlags">
                               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
@@ -5769,7 +5772,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                             </widget>
                            </item>
                            <item row="6" column="0">
-                            <widget class="QSpinBox" name="source_spinBox_databaseMaxFrames">
+                            <widget class="QSpinBox" name="source_spinBox_databaseStopId">
                              <property name="minimum">
                               <number>0</number>
                              </property>

tools/Reprocess/main.cpp

@@ -58,6 +58,8 @@ void showUsage()
 			"     -c \"path.ini\"   Configuration file, overwriting parameters read \n"
 			"                       from the database. If custom parameters are also set as \n"
 			"                       arguments, they overwrite those in config file and the database.\n"
+			"     -start #    Start from this node ID.\n"
+			"     -stop #     Last node to process.\n"
 			"     -g2         Assemble 2D occupancy grid map and save it to \"[output]_map.pgm\".\n"
 			"     -g3         Assemble 3D cloud map and save it to \"[output]_map.pcd\".\n"
 			"     -o2         Assemble OctoMap 2D projection and save it to \"[output]_octomap.pgm\".\n"
@@ -152,6 +154,8 @@ int main(int argc, char * argv[])
 	bool assemble2dOctoMap = false;
 	bool assemble3dOctoMap = false;
 	bool useDatabaseRate = false;
+	int startId = 0;
+	int stopId = 0;
 	ParametersMap configParameters;
 	for(int i=1; i<argc-2; ++i)
 	{
@@ -177,6 +181,24 @@ int main(int argc, char * argv[])
 				printf("Config file is not set!\n");
 			}
 		}
+		else if (strcmp(argv[i], "-start") == 0 || strcmp(argv[i], "--start") == 0)
+		{
+			++i;
+			if(i < argc - 2)
+			{
+				startId = atoi(argv[i]);
+				printf("Start at node ID = %d.\n", startId);
+			}
+		}
+		else if (strcmp(argv[i], "-stop") == 0 || strcmp(argv[i], "--stop") == 0)
+		{
+			++i;
+			if(i < argc - 2)
+			{
+				stopId = atoi(argv[i]);
+				printf("Stop at node ID = %d.\n", stopId);
+			}
+		}
 		else if(strcmp(argv[i], "-g2") == 0 || strcmp(argv[i], "--g2") == 0)
 		{
 			assemble2dMap = true;
@@ -322,7 +344,7 @@ int main(int argc, char * argv[])
 	bool rgbdEnabled = Parameters::defaultRGBDEnabled();
 	Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
 	bool odometryIgnored = !rgbdEnabled;
-	DBReader dbReader(inputDatabasePath, useDatabaseRate?-1:0, odometryIgnored);
+	DBReader dbReader(inputDatabasePath, useDatabaseRate?-1:0, odometryIgnored, false, false, startId, -1, stopId);
 	dbReader.init();
 
 	OccupancyGrid grid(parameters);