Fixed calibration/laser not saved when compressed images are not saved to db

corelib/include/rtabmap/core/CameraInfo.h

@@ -55,7 +55,6 @@ public:
 	float timeMirroring;
 	float timeImageDecimation;
 	float timeScanFromDepth;
-	float timeDepthFromScan;
 };
 
 } // namespace rtabmap

corelib/src/DBDriverSqlite3.cpp

@@ -1696,7 +1696,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 			rc = sqlite3_prepare_v2(_ppDb, query3.str().c_str(), -1, &ppStmt, 0);
 			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
 
-
+			int calibrationsLoaded = 0;
 			for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
 			{
 				if(calibrationsToLoad.find((*iter)->id())!=calibrationsToLoad.end())
@@ -1722,6 +1722,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 						// stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float
 						if(dataSize > 0 && data)
 						{
+							++calibrationsLoaded;
 							float * dataFloat = (float*)data;
 							if((unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
 							{
@@ -1776,6 +1777,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 								UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
 							}
 
+							UWARN("Set %d models to %d", models.size(), (*iter)->id());
 							(*iter)->sensorData().setCameraModels(models);
 							(*iter)->sensorData().setStereoCameraModel(stereoModel);
 						}
@@ -1791,9 +1793,9 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 			// Finalize (delete) the statement
 			rc = sqlite3_finalize(ppStmt);
 			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-		}
 
-		ULOGGER_DEBUG("Time load calibrations=%fs", timer.ticks());
+			ULOGGER_DEBUG("Time load calibrations (loaded=%d/%d)=%fs", calibrationsLoaded, calibrationsToLoad.size(), timer.ticks());
+		}
 
 		if(ids.size() != loaded)
 		{
@@ -2559,7 +2561,9 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
 				if(!(*i)->sensorData().imageCompressed().empty() ||
 				   !(*i)->sensorData().depthOrRightCompressed().empty() ||
 				   !(*i)->sensorData().laserScanCompressed().empty() ||
-				   !(*i)->sensorData().userDataCompressed().empty())
+				   !(*i)->sensorData().userDataCompressed().empty() ||
+				   !(*i)->sensorData().cameraModels().size() ||
+				   !(*i)->sensorData().stereoCameraModel().isValidForProjection())
 				{
 					UASSERT((*i)->id() == (*i)->sensorData().id());
 					stepSensorData(ppStmt, (*i)->sensorData());

corelib/src/Memory.cpp

@@ -2056,9 +2056,10 @@ Transform Memory::computeTransform(
 
 	if(fromS && toS)
 	{
+		UWARN("%d=%d %d=%d", fromId, fromS->sensorData().cameraModels().size(), toId, toS->sensorData().cameraModels().size());
 		// make sure we have all data needed
 		if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) ||
-		   _registrationPipeline->isScanRequired() ||
+		   (_registrationPipeline->isScanRequired()) ||
 		   _registrationPipeline->isUserDataRequired())
 		{
 			getNodeData(fromS->id(), true);
@@ -3379,6 +3380,14 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 	}
 	else
 	{
+		// just compress laser and user data
+		rtabmap::CompressionThread ctLaserScan(laserScan);
+		rtabmap::CompressionThread ctUserData(data.userDataRaw());
+		ctLaserScan.start();
+		ctUserData.start();
+		ctLaserScan.join();
+		ctUserData.join();
+
 		s = new Signature(id,
 			_idMapCount,
 			isIntermediateNode?-1:0, // tag intermediate nodes as weight=-1
@@ -3388,23 +3397,25 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 			data.groundTruth(),
 			stereoCameraModel.isValidForProjection()?
 				SensorData(
-						cv::Mat(),
+						ctLaserScan.getCompressedData(),
-						0,
+						maxLaserScanMaxPts,
-						0,
+						data.laserScanMaxRange(),
 						cv::Mat(),
 						cv::Mat(),
 						stereoCameraModel,
 						id,
-						0):
+						0,
+						ctUserData.getCompressedData()):
 				SensorData(
-						cv::Mat(),
+						ctLaserScan.getCompressedData(),
-						0,
+						maxLaserScanMaxPts,
-						0,
+						data.laserScanMaxRange(),
 						cv::Mat(),
 						cv::Mat(),
 						cameraModels,
 						id,
-						0));
+						0,
+						ctUserData.getCompressedData()));
 	}
 
 	s->setWords(words);

guilib/src/MainWindow.cpp

@@ -740,7 +740,6 @@ void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
 	_ui->statsToolBox->updateStat("Camera/Time disparity/ms", (float)info.id, (float)info.timeDisparity*1000.0);
 	_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", (float)info.id, (float)info.timeMirroring*1000.0);
 	_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", (float)info.id, (float)info.timeScanFromDepth*1000.0);
-	_ui->statsToolBox->updateStat("Camera/Time depth from scan/ms", (float)info.id, (float)info.timeDepthFromScan*1000.0);
 }
 
 void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
@@ -1643,7 +1642,7 @@ void MainWindow::updateMapCloud(
 				else if(_cachedSignatures.contains(iter->first))
 				{
 					QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
-					if(!jter->sensorData().laserScanCompressed().empty())
+					if(!jter->sensorData().laserScanCompressed().empty() || !jter->sensorData().laserScanRaw().empty())
 					{
 						this->createAndAddScanToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
 					}
@@ -1893,7 +1892,8 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 		return;
 	}
 
-	if(!iter->sensorData().imageCompressed().empty() && !iter->sensorData().depthOrRightCompressed().empty())
+	if((!iter->sensorData().imageCompressed().empty() || !iter->sensorData().imageRaw().empty()) &&
+	   (!iter->sensorData().depthOrRightCompressed().empty() || !iter->sensorData().depthOrRightRaw().empty()))
 	{
 		cv::Mat image, depth;
 		SensorData data = iter->sensorData();
@@ -2101,7 +2101,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
 		return;
 	}
 
-	if(!iter->sensorData().laserScanCompressed().empty())
+	if(!iter->sensorData().laserScanCompressed().empty() || !iter->sensorData().laserScanRaw().empty())
 	{
 		cv::Mat scan;
 		iter->sensorData().uncompressData(0, 0, &scan);

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-1377</y>
             <width>681</width>
             <height>2010</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>6</number>
+                <number>3</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3751,7 +3751,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                          <item row="0" column="1">
                           <widget class="QLabel" name="label_300">
                            <property name="text">
-                            <string>Downsample step size for laser scans. If you laser scans are created from depth images, use Decimation above instead (faster).</string>
+                            <string>Downsample step size for laser scans. If your laser scans are created from depth images, use Decimation above instead (faster).</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>