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

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matlabbe
2017-01-05 19:31:18 -05:00
parent f20cb6ff52
commit 8895173a2b
2 changed files with 18 additions and 12 deletions
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corelib/src/Memory.cpp
+6 -6
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@@ -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);