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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

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matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
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103
guilib/src/ExportCloudsDialog.cpp
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@@ -1071,6 +1071,8 @@ bool ExportCloudsDialog::getExportedClouds(
parameters,
has2dScans);
std::set<int> validCameras = uKeysSet(clouds);
UDEBUG("");
if(_canceled)
{
@@ -1915,60 +1917,63 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::vector<CameraModel> > cameraModels;
for(std::map<int, Transform>::iterator jter=cameras.begin(); jter!=cameras.end(); ++jter)
{
std::vector<CameraModel> models;
StereoCameraModel stereoModel;
bool cacheHasCompressedImage = false;
if(cachedSignatures.contains(jter->first))
if(validCameras.find(jter->first) != validCameras.end())
{
const SensorData & data = cachedSignatures.find(jter->first)->sensorData();
models = data.cameraModels();
stereoModel = data.stereoCameraModel();
cacheHasCompressedImage = !data.imageCompressed().empty();
}
else if(_dbDriver)
{
_dbDriver->getCalibration(jter->first, models, stereoModel);
}
if(stereoModel.isValidForProjection())
{
models.clear();
models.push_back(stereoModel.left());
}
else if(models.size() == 0 || !models[0].isValidForProjection())
{
models.clear();
}
if(!jter->second.isNull() && models.size())
{
if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
std::vector<CameraModel> models;
StereoCameraModel stereoModel;
bool cacheHasCompressedImage = false;
if(cachedSignatures.contains(jter->first))
{
// we are using an old database format (image size not saved in calibrations), we should
// uncompress images to get their size
cv::Mat img;
if(cacheHasCompressedImage)
{
cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, 0);
}
else if(_dbDriver)
{
SensorData data;
_dbDriver->getNodeData(jter->first, data, true, false, false, false);
data.uncompressDataConst(&img, 0);
}
cv::Size imageSize = img.size();
imageSize.width /= models.size();
for(unsigned int i=0; i<models.size(); ++i)
{
models[i].setImageSize(imageSize);
}
const SensorData & data = cachedSignatures.find(jter->first)->sensorData();
models = data.cameraModels();
stereoModel = data.stereoCameraModel();
cacheHasCompressedImage = !data.imageCompressed().empty();
}
else if(_dbDriver)
{
_dbDriver->getCalibration(jter->first, models, stereoModel);
}
if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
if(stereoModel.isValidForProjection())
{
cameraPoses.insert(std::make_pair(jter->first, jter->second));
cameraModels.insert(std::make_pair(jter->first, models));
models.clear();
models.push_back(stereoModel.left());
}
else if(models.size() == 0 || !models[0].isValidForProjection())
{
models.clear();
}
if(!jter->second.isNull() && models.size())
{
if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
{
// we are using an old database format (image size not saved in calibrations), we should
// uncompress images to get their size
cv::Mat img;
if(cacheHasCompressedImage)
{
cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, 0);
}
else if(_dbDriver)
{
SensorData data;
_dbDriver->getNodeData(jter->first, data, true, false, false, false);
data.uncompressDataConst(&img, 0);
}
cv::Size imageSize = img.size();
imageSize.width /= models.size();
for(unsigned int i=0; i<models.size(); ++i)
{
models[i].setImageSize(imageSize);
}
}
if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
{
cameraPoses.insert(std::make_pair(jter->first, jter->second));
cameraModels.insert(std::make_pair(jter->first, models));
}
}
}
}