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DBViewer: added optimzed and prior poses in node details. Reprocess: add start_s, stop_s and pub_loops options.

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matlabbe
2022-10-12 13:05:01 -07:00
parent 2cbd43dfb6
commit fdb78d33b0
8 changed files with 627 additions and 370 deletions
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12
corelib/include/rtabmap/core/DBReader.h
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@@ -55,7 +55,9 @@ public:
int stopId = 0,
bool intermediateNodesIgnored = false,
bool landmarksIgnored = false,
bool featuresIgnored = false);
bool featuresIgnored = false,
int startMapId = 0,
int stopMapId = -1);
DBReader(const std::list<std::string> & databasePaths,
float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
bool odometryIgnored = false,
@@ -66,7 +68,9 @@ public:
int stopId = 0,
bool intermediateNodesIgnored = false,
bool landmarksIgnored = false,
bool featuresIgnored = false);
bool featuresIgnored = false,
int startMapId = 0,
int stopMapId = -1);
virtual ~DBReader();
virtual bool init(
@@ -77,6 +81,8 @@ public:
virtual std::string getSerial() const;
virtual bool odomProvided() const {return !_odometryIgnored;}
const DBDriver * driver() const {return _dbDriver;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
@@ -94,6 +100,8 @@ private:
bool _intermediateNodesIgnored;
bool _landmarksIgnored;
bool _featuresIgnored;
int _startMapId;
int _stopMapId;
DBDriver * _dbDriver;
UTimer _timer;