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Save intermediate node input features

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This commit is contained in:
matlabbe
2026-05-09 10:57:59 -07:00
parent f04067fa16
commit f0b2aee5f1
7 changed files with 555 additions and 457 deletions
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corelib/include/rtabmap/core/DBReader.h
+3
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@@ -60,6 +60,7 @@ public:
int stopMapId = -1,
bool priorsIgnored = false,
bool imuIgnored = false,
bool intermediateNodesAreNormalNodes = false,
const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
DBReader(const std::list<std::string> & databasePaths,
float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
@@ -76,6 +77,7 @@ public:
int stopMapId = -1,
bool priorsIgnored = false,
bool imuIgnored = false,
bool intermediateNodesAreNormalNodes = false,
const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
virtual ~DBReader();
@@ -106,6 +108,7 @@ private:
int _stopId;
std::vector<unsigned int> _cameraIndices;
bool _intermediateNodesIgnored;
bool _intermediateNodesAreNormalNodes;
bool _landmarksIgnored;
bool _featuresIgnored;
bool _priorsIgnored;