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used dbu extension for update files

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matlabbe
2026-07-10 20:54:51 -07:00
parent e61a45e44f
commit b532319885
9 changed files with 65 additions and 32 deletions
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14
tools/Reprocess/main.cpp
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@@ -85,11 +85,12 @@ void showUsage()
" -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"
" then next databases are reprocessed on top of the first one.\n"
" --track-changes \"changes.update\"\n"
" --track-changes \"changes.dbu\"\n"
" Only with append mode (-a): record the changes made on top of the first (copied) database and\n"
" write a compact delta to the given file. Apply it later on the original database with\n"
" rtabmap-dbupdate. Requires the database to be version 0.24 or newer. Note: the recorded\n"
" changes are held in memory until closing, so use this only when appending a small amount.\n"
" write a compact delta to the given file. Apply\n"
" it later on the original database with rtabmap-dbupdate. Requires the database to be version\n"
" 0.24 or newer. Note: the recorded changes are held in memory until closing, so use this only\n"
" when appending a small amount.\n"
" -cam # Camera index to stream. Ignored if a database doesn't contain multi-camera data. Can also be multiple \n"
" indices split by spaces in a string like \"0 2\" to stream cameras 0 and 2 only.\n"
" -cam_tf \"x y z roll pitch yaw\" Camera local transform override(s) without optical rotation. For multi-cameras, \n"
@@ -442,6 +443,11 @@ int main(int argc, char * argv[])
if(i < argc - 2)
{
trackChangesOutput = argv[i];
if(UFile::getExtension(trackChangesOutput).compare("dbu") != 0)
{
printf("--track-changes file \"%s\" must have a \".dbu\" (db update) extension!\n", trackChangesOutput.c_str());
showUsage();
}
printf("Change tracking enabled, delta will be written to \"%s\" (apply later with rtabmap-dbupdate).\n", trackChangesOutput.c_str());
}
else