i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Memory::computeTransform(): Fixed empty "from" image when reextract features is true and ICP-only registration is used

Browse Source
This commit is contained in:
matlabbe
2017-01-05 19:31:18 -05:00
parent f20cb6ff52
commit 8895173a2b
2 changed files with 18 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
corelib/src/Memory.cpp
View File

@@ -2146,13 +2146,13 @@ 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()) && fromS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty()))
{
fromS.sensorData() = getNodeData(fromS.id());
}
if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired() && toS.sensorData().imageCompressed().empty()) ||
if(((_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty()))
{
@@ -2161,13 +2161,13 @@ Transform Memory::computeTransform(
// uncompress only what we need
cv::Mat imgBuf, depthBuf, laserBuf, userBuf;
fromS.sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&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())?&imgBuf:0,
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);

18
corelib/src/RegistrationVis.cpp
View File

@@ -194,23 +194,27 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
UDEBUG("guess=%s", guess.prettyPrint().c_str());
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors",
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d",
fromSignature.id(),
(int)fromSignature.getWords().size(),
(int)fromSignature.getWords3().size(),
(int)fromSignature.getWordsDescriptors().size(),
(int)fromSignature.sensorData().keypoints().size(),
(int)fromSignature.sensorData().keypoints3D().size(),
fromSignature.sensorData().descriptors().rows);
fromSignature.sensorData().descriptors().rows,
fromSignature.sensorData().imageRaw().cols,
fromSignature.sensorData().imageRaw().rows);
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors",
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d",
toSignature.id(),
(int)toSignature.getWords().size(),
(int)toSignature.getWords3().size(),
(int)toSignature.getWordsDescriptors().size(),
(int)toSignature.sensorData().keypoints().size(),
(int)toSignature.sensorData().keypoints3D().size(),
toSignature.sensorData().descriptors().rows);
toSignature.sensorData().descriptors().rows,
toSignature.sensorData().imageRaw().cols,
toSignature.sensorData().imageRaw().rows);
std::string msg;
@@ -1423,8 +1427,10 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(toSignature.sensorData().isValid())
{
UWARN("Missing correspondences for registration (%d->%d). toWords = %d toImageEmpty=%d",
fromSignature.id(), toSignature.id(), (int)toSignature.getWords().size(), toSignature.sensorData().imageRaw().empty()?1:0);
UWARN("Missing correspondences for registration (%d->%d). fromWords = %d fromImageEmpty=%d toWords = %d toImageEmpty=%d",
fromSignature.id(), toSignature.id(),
(int)fromSignature.getWords().size(), fromSignature.sensorData().imageRaw().empty()?1:0,
(int)toSignature.getWords().size(), toSignature.sensorData().imageRaw().empty()?1:0);
}
info.inliers = inliersCount;