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multiband: fixed error when intermediate nodes without data are in memory

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This commit is contained in:
matlabbe
2022-03-01 18:42:43 -05:00
parent f140e99881
commit 656da152b3
2 changed files with 26 additions and 4 deletions
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tools/Export/main.cpp
+2 -4
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@@ -1231,16 +1231,14 @@ int main(int argc, char * argv[])
robotPoses.insert(std::make_pair(iter->first, iter->second));
cameraStamps.insert(std::make_pair(iter->first, node.getStamp()));
bool intermediateNode = false;
if(models.empty() && node.getWeight() == -1 && !cameraModels.empty())
{
// For intermediate nodes, use latest models
models = cameraModels.rbegin()->second;
intermediateNode = true;
}
if(!models.empty())
{
if(!intermediateNode)
if(!node.sensorData().imageCompressed().empty())
{
cameraModels.insert(std::make_pair(iter->first, models));
}
@@ -1772,7 +1770,7 @@ int main(int argc, char * argv[])
}
else
{
printf("Texturing %d polygons... robotPoses=%d, cameraDepths=%d\n", (int)mesh->polygons.size(), (int)robotPoses.size(), (int)cameraDepths.size());
printf("Texturing %d polygons... robotPoses=%d, cameraModels=%d, cameraDepths=%d\n", (int)mesh->polygons.size(), (int)robotPoses.size(), (int)cameraModels.size(), (int)cameraDepths.size());
std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
pcl::TextureMeshPtr textureMesh = rtabmap::util3d::createTextureMesh(
mesh,