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Added session selection id in ExportDialog

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Mathieu Labbe
2015-04-16 13:44:54 -04:00
parent 32f7a6665e
commit b48bd7cf70
5 changed files with 79 additions and 5 deletions
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guilib/src/DatabaseViewer.cpp
+32 -3
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@@ -663,17 +663,46 @@ void DatabaseViewer::exportDatabase()
if(!dialog.outputPath().isEmpty())
{
int framesIgnored = dialog.framesIgnored();
int sessionExported = dialog.sessionExported();
QString path = dialog.outputPath();
rtabmap::DataRecorder recorder;
QList<int> ids;
if(sessionExported < 0)
{
ids = ids_;
}
else
{
for(int i=0; i<ids_.size(); ++i)
{
Transform odomPose;
int weight = -1;
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, userData, true))
{
if(sessionExported == mapId)
{
ids.push_back(ids_[i]);
}
else if(mapId > sessionExported)
{
break;
}
}
}
}
if(recorder.init(path, false))
{
rtabmap::DetailedProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids_.size() / (1+framesIgnored) + 1);
progressDialog.setMaximumSteps(ids.size() / (1+framesIgnored) + 1);
progressDialog.show();
for(int i=0; i<ids_.size(); i+=1+framesIgnored)
for(int i=0; i<ids.size(); i+=1+framesIgnored)
{
int id = ids_.at(i);
int id = ids.at(i);
Signature data = memory_->getSignatureData(id, true);
rtabmap::SensorData sensorData = data.toSensorData();