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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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tools/Reprocess/main.cpp
+11 -3
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@@ -96,6 +96,7 @@ void showUsage()
" -nopriors Don't republish priors contained in input database.\n"
" -noimu Don't republish IMU contained in input database.\n"
" -pub_loops Republish loop closures contained in input database.\n"
" -pub_inter_as_normal Republish intermediate nodes as normal nodes.\n"
" -loc_null On localization mode, reset localization pose to null and map correction to identity between sessions.\n"
" -gt When reprocessing a single database, load its original optimized graph, then \n"
" set it as ground truth for output database. If there was a ground truth in the input database, it will be ignored.\n"
@@ -279,6 +280,7 @@ int main(int argc, char * argv[])
bool ignorePriors = false;
bool ignoreImu = false;
bool republishLoopClosures = false;
bool pubInterNodesAsNormalNodes = false;
bool locNull = false;
bool originalGraphAsGT = false;
bool scanFromDepth = false;
@@ -510,6 +512,11 @@ int main(int argc, char * argv[])
republishLoopClosures = true;
printf("Republish loop closures from input database (-pub_loops option).\n");
}
else if(strcmp(argv[i], "-pub_inter_as_normal") == 0 || strcmp(argv[i], "--pub_inter_as_normal") == 0)
{
pubInterNodesAsNormalNodes = true;
printf("Republish intermdiate nodes as normal nodes (-pub_inter_as_normal option).\n");
}
else if(strcmp(argv[i], "-loc_null") == 0 || strcmp(argv[i], "--loc_null") == 0)
{
locNull = true;
@@ -815,7 +822,7 @@ int main(int argc, char * argv[])
int totalIds = 0;
std::set<int> ids;
dbDriver->getAllNodeIds(ids, false, false, !intermediateNodes);
dbDriver->getAllNodeIds(ids, false, false, !pubInterNodesAsNormalNodes && !intermediateNodes);
if(ids.empty())
{
printf("Input database doesn't have any nodes saved in it.\n");
@@ -844,7 +851,7 @@ int main(int argc, char * argv[])
return 1;
}
ids.clear();
dbDriver->getAllNodeIds(ids, false, false, !intermediateNodes);
dbDriver->getAllNodeIds(ids, false, false, !pubInterNodesAsNormalNodes && !intermediateNodes);
totalIds += ids.size();
dbDriver->closeConnection(false);
}
@@ -920,13 +927,14 @@ int main(int argc, char * argv[])
startId,
cameraIndices,
stopId,
!intermediateNodes,
!pubInterNodesAsNormalNodes && !intermediateNodes,
ignoreLandmarks,
!useOdomFeatures,
startMapId,
stopMapId,
ignorePriors,
ignoreImu,
pubInterNodesAsNormalNodes,
cameraLocalTransformOverrides);
dbReader->init();