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reprocess: fixed -cam_tf option when -cam option is not used at the same time

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matlabbe
2025-04-28 15:23:12 -07:00
parent af11afdc9a
commit 16e21697f8
1 changed files with 9 additions and 3 deletions
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12
corelib/src/DBReader.cpp
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@@ -780,13 +780,19 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
}
else if(!combinedLocalTransforms.empty())
{
// We are overriding the camra local transforms, let's move 3D words accordingly
// We are overriding the camera local transforms, let's move 3D words accordingly
UASSERT(dbModels.size() == combinedLocalTransforms.size());
std::vector<cv::Point3f> newKeypoints3D;
UASSERT(dbModels[0].imageWidth()>0);
int subImageWidth = dbModels[0].imageWidth();
for(size_t i = 0; i<keypoints3D.size(); ++i)
{
cv::Point3f pt = util3d::transformPoint(keypoints3D.at(i), dbModels[i].localTransform().inverse());
pt = util3d::transformPoint(pt, combinedLocalTransforms[i]);
int cameraIndex = int(keypoints.at(i).pt.x / subImageWidth);
UASSERT_MSG(cameraIndex >= 0 && cameraIndex < (int)dbModels.size(),
uFormat("cameraIndex=%d, db models=%d, kpt.x=%f, image width=%d",
cameraIndex, (int)dbModels.size(), keypoints[i].pt.x, subImageWidth).c_str());
cv::Point3f pt = util3d::transformPoint(keypoints3D.at(i), dbModels[cameraIndex].localTransform().inverse());
pt = util3d::transformPoint(pt, combinedLocalTransforms[cameraIndex]);
newKeypoints3D.push_back(pt);
}
data.setFeatures(keypoints, newKeypoints3D, descriptors);