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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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12
corelib/src/Memory.cpp
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@@ -2146,13 +2146,13 @@ Transform Memory::computeTransform(
// make sure we have all data needed // 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) // 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->isScanRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty())) (_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty()))
{ {
fromS.sensorData() = getNodeData(fromS.id()); 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->isScanRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty())) (_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty()))
{ {
@@ -2161,13 +2161,13 @@ Transform Memory::computeTransform(
// uncompress only what we need // uncompress only what we need
cv::Mat imgBuf, depthBuf, laserBuf, userBuf; cv::Mat imgBuf, depthBuf, laserBuf, userBuf;
fromS.sensorData().uncompressData( fromS.sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0, (_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0, (_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0, _registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0); _registrationPipeline->isUserDataRequired()?&userBuf:0);
toS.sensorData().uncompressData( toS.sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0, (_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0, (_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0, _registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf: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("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
UDEBUG("guess=%s", guess.prettyPrint().c_str()); 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(), fromSignature.id(),
(int)fromSignature.getWords().size(), (int)fromSignature.getWords().size(),
(int)fromSignature.getWords3().size(), (int)fromSignature.getWords3().size(),
(int)fromSignature.getWordsDescriptors().size(), (int)fromSignature.getWordsDescriptors().size(),
(int)fromSignature.sensorData().keypoints().size(), (int)fromSignature.sensorData().keypoints().size(),
(int)fromSignature.sensorData().keypoints3D().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(), toSignature.id(),
(int)toSignature.getWords().size(), (int)toSignature.getWords().size(),
(int)toSignature.getWords3().size(), (int)toSignature.getWords3().size(),
(int)toSignature.getWordsDescriptors().size(), (int)toSignature.getWordsDescriptors().size(),
(int)toSignature.sensorData().keypoints().size(), (int)toSignature.sensorData().keypoints().size(),
(int)toSignature.sensorData().keypoints3D().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; std::string msg;
@@ -1423,8 +1427,10 @@ Transform RegistrationVis::computeTransformationImpl(
} }
else if(toSignature.sensorData().isValid()) else if(toSignature.sensorData().isValid())
{ {
UWARN("Missing correspondences for registration (%d->%d). toWords = %d toImageEmpty=%d", UWARN("Missing correspondences for registration (%d->%d). fromWords = %d fromImageEmpty=%d toWords = %d toImageEmpty=%d",
fromSignature.id(), toSignature.id(), (int)toSignature.getWords().size(), toSignature.sensorData().imageRaw().empty()?1:0); 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; info.inliers = inliersCount;