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reprocess: added "-a" option (append mode)

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matlabbe
2022-11-02 15:06:13 -07:00
parent c9d50ef445
commit bdfab4e0be
1 changed files with 14 additions and 3 deletions
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17
tools/Reprocess/main.cpp
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@@ -71,6 +71,8 @@ void showUsage()
" -stop # Last node to process.\n"
" -start_s # Start from this map session ID.\n"
" -stop_s # Last map session to process.\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"
" -cam # Camera index to stream. Ignored if a database doesn't contain multi-camera data.\n"
" -nolandmark Don't republish landmarks contained in input database.\n"
" -pub_loops Republish loop closures contained in input database.\n"
@@ -231,6 +233,7 @@ int main(int argc, char * argv[])
int stopId = 0;
int startMapId = 0;
int stopMapId = -1;
bool appendMode = false;
int cameraIndex = -1;
int framesToSkip = 0;
bool ignoreLandmarks = false;
@@ -327,6 +330,11 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if (strcmp(argv[i], "-a") == 0 || strcmp(argv[i], "--a") == 0)
{
appendMode = true;
printf("Append mode enabled (initialize with first database then reprocess next ones)\n");
}
else if (strcmp(argv[i], "-cam") == 0 || strcmp(argv[i], "--cam") == 0)
{
++i;
@@ -654,7 +662,7 @@ int main(int argc, char * argv[])
delete dbDriver;
return -1;
}
if(!(!incrementalMemory && databases.size() > 1))
if(!((!incrementalMemory || appendMode) && databases.size() > 1))
{
totalIds = ids.size();
}
@@ -698,10 +706,13 @@ int main(int argc, char * argv[])
uInsert(parameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), workingDirectory));
uInsert(parameters, ParametersPair(Parameters::kRtabmapPublishStats(), "true")); // to log status below
if(!incrementalMemory && databases.size() > 1)
if((!incrementalMemory || appendMode ) && databases.size() > 1)
{
UFile::copy(databases.front(), outputDatabasePath);
printf("Parameter \"%s\" is set to false, initializing RTAB-Map with \"%s\" for localization...\n", Parameters::kMemIncrementalMemory().c_str(), databases.front().c_str());
if(!incrementalMemory)
{
printf("Parameter \"%s\" is set to false, initializing RTAB-Map with \"%s\" for localization...\n", Parameters::kMemIncrementalMemory().c_str(), databases.front().c_str());
}
databases.pop_front();
inputDatabasePath = uJoin(databases, ";");
}