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updated recovery tool to support databases without image data kept

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This commit is contained in:
matlabbe
2019-01-28 16:11:05 -05:00
parent ccaf15fc41
commit 0192cac18a
2 changed files with 87 additions and 43 deletions
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corelib/src/Memory.cpp
+23 -11
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@@ -4004,7 +4004,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
float t;
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
bool isIntermediateNode = data.id() < 0 || data.imageRaw().empty();
bool isIntermediateNode = data.id() < 0 || (data.imageRaw().empty() && data.keypoints().empty());
int id = data.id();
if(_generateIds)
{
@@ -4955,19 +4955,31 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
// Occupancy grid map stuff
cv::Mat ground, obstacles, empty;
float cellSize = 0.0f;
cv::Point3f viewPoint(0,0,0);
if(_createOccupancyGrid && !data.depthOrRightRaw().empty() && !isIntermediateNode)
if(_createOccupancyGrid && !isIntermediateNode)
{
_occupancy->createLocalMap(*s, ground, obstacles, empty, viewPoint);
cellSize = _occupancy->getCellSize();
if(!data.depthOrRightRaw().empty())
{
cv::Mat ground, obstacles, empty;
float cellSize = 0.0f;
cv::Point3f viewPoint(0,0,0);
_occupancy->createLocalMap(*s, ground, obstacles, empty, viewPoint);
cellSize = _occupancy->getCellSize();
s->sensorData().setOccupancyGrid(ground, obstacles, empty, cellSize, viewPoint);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemOccupancy_grid(), t*1000.0f);
UDEBUG("time grid map = %fs", t);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemOccupancy_grid(), t*1000.0f);
UDEBUG("time grid map = %fs", t);
}
else if(data.gridCellSize() != 0.0f)
{
s->sensorData().setOccupancyGrid(
data.gridGroundCellsRaw(),
data.gridObstacleCellsRaw(),
data.gridEmptyCellsRaw(),
data.gridCellSize(),
data.gridViewPoint());
}
}
s->sensorData().setOccupancyGrid(ground, obstacles, empty, cellSize, viewPoint);
// prior
if(!isIntermediateNode)