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SensorData/Memory: fixed assert for scan channels 5 an 7

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matlabbe
2017-08-28 17:37:57 -04:00
parent b70ffb6331
commit 7ec58c63e9
2 changed files with 6 additions and 6 deletions
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corelib/src/Memory.cpp
+1 -1
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@@ -3310,7 +3310,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.depthOrRightRaw().rows, data.depthOrRightRaw().rows,
data.depthOrRightRaw().type(), data.depthOrRightRaw().type(),
CV_16UC1, CV_32FC1, CV_8UC1).c_str()); CV_16UC1, CV_32FC1, CV_8UC1).c_str());
UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(4) || data.laserScanRaw().type() == CV_32FC(6)); UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(4) || data.laserScanRaw().type() == CV_32FC(5) || data.laserScanRaw().type() == CV_32FC(6) || data.laserScanRaw().type() == CV_32FC(7));
if(!data.depthOrRightRaw().empty() && if(!data.depthOrRightRaw().empty() &&
data.cameraModels().size() == 0 && data.cameraModels().size() == 0 &&
corelib/src/SensorData.cpp
+5 -5
View File
@@ -195,7 +195,7 @@ SensorData::SensorData(
_depthOrRightRaw = depth; _depthOrRightRaw = depth;
} }
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6)) if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(5) || laserScan.type() == CV_32FC(6) || laserScan.type() == CV_32FC(7))
{ {
_laserScanRaw = laserScan; _laserScanRaw = laserScan;
} }
@@ -300,7 +300,7 @@ SensorData::SensorData(
_depthOrRightRaw = depth; _depthOrRightRaw = depth;
} }
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6)) if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(5) || laserScan.type() == CV_32FC(6) || laserScan.type() == CV_32FC(7))
{ {
_laserScanRaw = laserScan; _laserScanRaw = laserScan;
} }
@@ -406,7 +406,7 @@ SensorData::SensorData(
_depthOrRightRaw = right; _depthOrRightRaw = right;
} }
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6)) if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(5) || laserScan.type() == CV_32FC(6) || laserScan.type() == CV_32FC(7))
{ {
_laserScanRaw = laserScan; _laserScanRaw = laserScan;
} }
@@ -496,7 +496,7 @@ void SensorData::setOccupancyGrid(
if(!ground.empty()) if(!ground.empty())
{ {
if(ground.type() == CV_32FC2 || ground.type() == CV_32FC3 || ground.type() == CV_32FC(4) || ground.type() == CV_32FC(6)) if(ground.type() == CV_32FC2 || ground.type() == CV_32FC3 || ground.type() == CV_32FC(4) || ground.type() == CV_32FC(5) || ground.type() == CV_32FC(6) || ground.type() == CV_32FC(7))
{ {
_groundCellsRaw = ground; _groundCellsRaw = ground;
ctGround.start(); ctGround.start();
@@ -509,7 +509,7 @@ void SensorData::setOccupancyGrid(
} }
if(!obstacles.empty()) if(!obstacles.empty())
{ {
if(obstacles.type() == CV_32FC2 || obstacles.type() == CV_32FC3 || obstacles.type() == CV_32FC(4) || obstacles.type() == CV_32FC(6)) if(obstacles.type() == CV_32FC2 || obstacles.type() == CV_32FC3 || obstacles.type() == CV_32FC(4) || obstacles.type() == CV_32FC(5) || obstacles.type() == CV_32FC(6) || obstacles.type() == CV_32FC(7))
{ {
_obstacleCellsRaw = obstacles; _obstacleCellsRaw = obstacles;
ctObstacles.start(); ctObstacles.start();