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fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-20 16:20:21 +00:00
parent faf43cc82c
commit 57dec696cf
4 changed files with 30 additions and 9 deletions
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3
corelib/include/rtabmap/core/Signature.h
View File

@@ -140,7 +140,8 @@ public:
SensorData toSensorData();
void uncompressData();
void uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const;
void uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw);
void uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const;
private:
int _id;

19
corelib/src/Signature.cpp
View File

@@ -247,7 +247,24 @@ void Signature::uncompressData()
uncompressData(&_imageRaw, &_depthRaw, &_depth2DRaw);
}
void Signature::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const
void Signature::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw)
{
uncompressDataConst(imageRaw, depthRaw, depth2DRaw);
if(imageRaw && !imageRaw->empty() && _imageRaw.empty())
{
_imageRaw = *imageRaw;
}
if(depthRaw && !depthRaw->empty() && _depthRaw.empty())
{
_depthRaw = *depthRaw;
}
if(depth2DRaw && !depth2DRaw->empty() && _depth2DRaw.empty())
{
_depth2DRaw = *depth2DRaw;
}
}
void Signature::uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const
{
if(imageRaw)
{