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fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method)

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increased stability of new actions added (New/Open/Close database).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1933 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 04:16:36 +00:00
parent d950c88373
commit 4340748fec
10 changed files with 60 additions and 89 deletions
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27
corelib/src/Signature.cpp
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@@ -108,7 +108,7 @@ void Signature::addNeighbor(int neighbor, const Transform & transform)
void Signature::removeNeighbor(int neighborId)
{
int count = _neighbors.erase(neighborId);
int count = (int)_neighbors.erase(neighborId);
if(count)
{
_neighborsModified = true;
@@ -172,7 +172,7 @@ float Signature::compareTo(const Signature * s) const
if(words.size() != 0 && _words.size() != 0)
{
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
int totalWords = _words.size()>words.size()?_words.size():words.size();
unsigned int totalWords = _words.size()>words.size()?_words.size():words.size();
EpipolarGeometry::findPairs(words, _words, pairs);
similarity = float(pairs.size()) / float(totalWords);
@@ -244,22 +244,7 @@ SensorData Signature::toSensorData()
void Signature::uncompressData()
{
if(_imageRaw.empty() && _image.size())
{
//uncompress data
util3d::CompressionThread ctImage(&_image, true);
util3d::CompressionThread ctDepth(&_depth, true);
util3d::CompressionThread ctDepth2D(&_depth2D, false);
ctImage.start();
ctDepth.start();
ctDepth2D.start();
ctImage.join();
ctDepth.join();
ctDepth2D.join();
_imageRaw = ctImage.getUncompressedData();
_depthRaw = ctDepth.getUncompressedData();
_depth2DRaw = ctDepth2D.getUncompressedData();
}
uncompressData(&_imageRaw, &_depthRaw, &_depth2DRaw);
}
void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const
@@ -298,15 +283,15 @@ void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth
ctImage.join();
ctDepth.join();
ctDepth2D.join();
if(image)
if(image && image->empty())
{
*image = ctImage.getUncompressedData();
}
if(depth)
if(depth && depth->empty())
{
*depth = ctDepth.getUncompressedData();
}
if(depth2D)
if(depth2D && depth2D->empty())
{
*depth2D = ctDepth2D.getUncompressedData();
}