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Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 (https://github.com/introlab/rtabmap_ros/issues/668). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.

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This commit is contained in:
matlabbe
2021-12-05 17:38:53 -05:00
parent 12906f4490
commit 580e35afb1
6 changed files with 43 additions and 43 deletions
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corelib/src/Memory.cpp
+8 -8
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@@ -2732,13 +2732,13 @@ Transform Memory::computeTransform(
// make sure we have all data needed
// load binary data from database if not in RAM (if image is already here, scan and userData should be or they are null)
if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && fromS.sensorData().imageCompressed().empty()) ||
if(((_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull())) && fromS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().laserScanCompressed().isEmpty()) ||
(_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty()))
{
fromS.sensorData() = getNodeData(fromS.id(), true, true, true, true);
}
if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
if(((_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull())) && toS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().laserScanCompressed().isEmpty()) ||
(_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty()))
{
@@ -2748,27 +2748,27 @@ Transform Memory::computeTransform(
cv::Mat imgBuf, depthBuf, userBuf;
LaserScan laserBuf;
fromS.sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
(_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull()))?&imgBuf:0,
(_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull()))?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);
toS.sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
(_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull()))?&imgBuf:0,
(_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull()))?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);
// compute transform fromId -> toId
std::vector<int> inliersV;
if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) ||
if((_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull())) ||
(fromS.getWords().size() && toS.getWords().size()) ||
(!guess.isNull() && !_registrationPipeline->isImageRequired()))
{
Signature tmpFrom = fromS;
Signature tmpTo = toS;
if(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())
if(_reextractLoopClosureFeatures && (_registrationPipeline->isImageRequired() || guess.isNull()))
{
UDEBUG("");
tmpFrom.removeAllWords();