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Reprocess: adding --stop_loop option (#1720)

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matlabbe
2026-06-16 16:21:38 -07:00
committed by GitHub
parent 9f464db7c9
commit a9dcc52d4c
1 changed files with 11 additions and 0 deletions
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11
tools/Reprocess/main.cpp
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@@ -82,6 +82,7 @@ void showUsage()
" -stop # Last node to process.\n" " -stop # Last node to process.\n"
" -start_s # Start from this map session ID.\n" " -start_s # Start from this map session ID.\n"
" -stop_s # Last map session to process.\n" " -stop_s # Last map session to process.\n"
" -stop_loop Stop after the first loop closure is detected.\n"
" -a Append mode: if Mem/IncrementalMemory is true, RTAB-Map is initialized with the first input database,\n" " -a Append mode: if Mem/IncrementalMemory is true, RTAB-Map is initialized with the first input database,\n"
" then next databases are reprocessed on top of the first one.\n" " then next databases are reprocessed on top of the first one.\n"
" -cam # Camera index to stream. Ignored if a database doesn't contain multi-camera data. Can also be multiple \n" " -cam # Camera index to stream. Ignored if a database doesn't contain multi-camera data. Can also be multiple \n"
@@ -271,6 +272,7 @@ int main(int argc, char * argv[])
int stopId = 0; int stopId = 0;
int startMapId = 0; int startMapId = 0;
int stopMapId = -1; int stopMapId = -1;
bool stopOnLoopClosure = false;
bool appendMode = false; bool appendMode = false;
std::vector<unsigned int> cameraIndices; std::vector<unsigned int> cameraIndices;
std::vector<Transform> cameraLocalTransformOverrides; std::vector<Transform> cameraLocalTransformOverrides;
@@ -419,6 +421,10 @@ int main(int argc, char * argv[])
showUsage(); showUsage();
} }
} }
else if(strcmp(argv[i], "-stop_loop") == 0 || strcmp(argv[i], "--stop_loop") == 0)
{
stopOnLoopClosure = true;
}
else if (strcmp(argv[i], "-a") == 0 || strcmp(argv[i], "--a") == 0) else if (strcmp(argv[i], "-a") == 0 || strcmp(argv[i], "--a") == 0)
{ {
appendMode = true; appendMode = true;
@@ -1288,6 +1294,11 @@ int main(int argc, char * argv[])
++loopIntra; ++loopIntra;
} }
printf("[%f] Processed %d/%d nodes [id=%d map=%d graph=%d hyp=%d]... %dms %s on %d [%d]\n", data.stamp(), ++processed, totalIds, refId, refMapId, int(stats.poses().size()), int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_value())*100.0f), int(iterationTime.ticks() * 1000), stats.loopClosureId() > 0?"Loop":"Prox", loopId, loopMapId); printf("[%f] Processed %d/%d nodes [id=%d map=%d graph=%d hyp=%d]... %dms %s on %d [%d]\n", data.stamp(), ++processed, totalIds, refId, refMapId, int(stats.poses().size()), int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_value())*100.0f), int(iterationTime.ticks() * 1000), stats.loopClosureId() > 0?"Loop":"Prox", loopId, loopMapId);
if(stopOnLoopClosure)
{
printf("First loop closure has been detected and --stop_loop option is enabled, stop processing...\n");
break;
}
} }
else if(landmarkId != 0) else if(landmarkId != 0)
{ {