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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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24
corelib/src/util3d_surface.cpp
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@@ -2413,6 +2413,22 @@ bool multiBandTexturing(
{ {
image = data.imageRaw(); image = data.imageRaw();
} }
if(models.empty() || image.empty())
{
Transform odomPose;
int mapId;
int weight=0;
std::string label;
double stamp;
Transform gt;
std::vector<float> vel;
GPS gps;
EnvSensors envs;
memory->getNodeInfo(camId, odomPose, mapId, weight, label, stamp, gt, vel, gps, envs, true);
if(weight == -1) // just ignore intermediate nodes if their data is not set
continue;
}
} }
else if(dbDriver) else if(dbDriver)
{ {
@@ -2433,6 +2449,14 @@ bool multiBandTexturing(
{ {
image = data.imageRaw(); image = data.imageRaw();
} }
if(models.empty() || image.empty())
{
int weight=0;
dbDriver->getWeight(camId, weight);
if(weight == -1) // just ignore intermediate nodes if their data is not set
continue;
}
} }
if(models.empty()) if(models.empty())
{ {

6
tools/Export/main.cpp
View File

@@ -1231,16 +1231,14 @@ int main(int argc, char * argv[])
robotPoses.insert(std::make_pair(iter->first, iter->second)); robotPoses.insert(std::make_pair(iter->first, iter->second));
cameraStamps.insert(std::make_pair(iter->first, node.getStamp())); cameraStamps.insert(std::make_pair(iter->first, node.getStamp()));
bool intermediateNode = false;
if(models.empty() && node.getWeight() == -1 && !cameraModels.empty()) if(models.empty() && node.getWeight() == -1 && !cameraModels.empty())
{ {
// For intermediate nodes, use latest models // For intermediate nodes, use latest models
models = cameraModels.rbegin()->second; models = cameraModels.rbegin()->second;
intermediateNode = true;
} }
if(!models.empty()) if(!models.empty())
{ {
if(!intermediateNode) if(!node.sensorData().imageCompressed().empty())
{ {
cameraModels.insert(std::make_pair(iter->first, models)); cameraModels.insert(std::make_pair(iter->first, models));
} }
@@ -1772,7 +1770,7 @@ int main(int argc, char * argv[])
} }
else 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; std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
pcl::TextureMeshPtr textureMesh = rtabmap::util3d::createTextureMesh( pcl::TextureMeshPtr textureMesh = rtabmap::util3d::createTextureMesh(
mesh, mesh,