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CameraImages: support scan only dataset.

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matlabbe
2021-01-24 13:21:30 -05:00
parent e99c658276
commit 4d75361fe0
7 changed files with 180 additions and 98 deletions
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corelib/src/Memory.cpp
+2 -1
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@@ -5247,7 +5247,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// Occupancy grid map stuff
if(_createOccupancyGrid && !isIntermediateNode)
{
if(!data.depthOrRightRaw().empty())
if( (_occupancy->isGridFromDepth() && !data.depthOrRightRaw().empty()) ||
(!_occupancy->isGridFromDepth() && !data.laserScanRaw().empty()))
{
cv::Mat ground, obstacles, empty;
float cellSize = 0.0f;