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Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.

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This commit is contained in:
matlabbe
2020-09-21 19:32:48 -04:00
parent 3d33370e4c
commit eef0a23b1b
5 changed files with 181 additions and 78 deletions
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45
tools/Reprocess/main.cpp
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@@ -58,6 +58,7 @@ void showUsage()
" To see warnings when loop closures are rejected, add \"--uwarn\" argument.\n"
" Options:\n"
" -r Use database stamps as input rate.\n"
" -skip # Skip # frames after each processed frame (default 0=don't skip any frames).\n"
" -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"
@@ -213,6 +214,7 @@ int main(int argc, char * argv[])
bool useDatabaseRate = false;
int startId = 0;
int stopId = 0;
int framesToSkip = 0;
bool scanFromDepth = false;
int scanDecimation = 1;
float scanRangeMin = 0.0f;
@@ -257,7 +259,7 @@ int main(int argc, char * argv[])
}
else
{
printf("-start option require a value\n");
printf("-start option requires a value\n");
showUsage();
}
}
@@ -271,7 +273,21 @@ int main(int argc, char * argv[])
}
else
{
printf("-stop option require a value\n");
printf("-stop option requires a value\n");
showUsage();
}
}
else if (strcmp(argv[i], "-skip") == 0 || strcmp(argv[i], "--skip") == 0)
{
++i;
if(i < argc - 2)
{
framesToSkip = atoi(argv[i]);
printf("Will skip %d frames.\n", framesToSkip);
}
else
{
printf("-skip option requires a value\n");
showUsage();
}
}
@@ -516,6 +532,11 @@ int main(int argc, char * argv[])
delete dbDriver;
dbDriver = 0;
if(framesToSkip)
{
totalIds/=framesToSkip+1;
}
std::string workingDirectory = UDirectory::getDir(outputDatabasePath);
printf("Set working directory to \"%s\".\n", workingDirectory.c_str());
uInsert(parameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), workingDirectory));
@@ -742,6 +763,26 @@ int main(int argc, char * argv[])
}
Transform odomPose = info.odomPose;
if(framesToSkip>0)
{
int skippedFrames = framesToSkip;
while(skippedFrames-- > 0)
{
data = dbReader->takeImage(&info);
if(!odometryIgnored && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0,0)>=9999)
{
printf("High variance detected, triggering a new map...\n");
if(!incrementalMemory && processed>0)
{
showLocalizationStats(outputDatabasePath);
lastLocalizationOdomPose = info.odomPose;
}
rtabmap.triggerNewMap();
}
}
}
data = dbReader->takeImage(&info);
if(scanFromDepth)
{