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fixed runtime errors for single depth camera and stereo

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This commit is contained in:
Mathieu Labbe
2015-05-30 20:05:35 -04:00
parent c5046df226
commit 9e13642a47
20 changed files with 232 additions and 275 deletions
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2
guilib/src/DatabaseViewer.cpp
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@@ -2252,12 +2252,14 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
float groundNormalMaxAngle = M_PI_4;
int minClusterSize = 20;
cv::Mat ground, obstacles;
util3d::occupancy2DFromCloud3D<pcl::PointXYZ>(
cloud,
ground, obstacles,
cellSize,
groundNormalMaxAngle,
minClusterSize);
if(!ground.empty() || !obstacles.empty())
{
localMaps_.insert(std::make_pair(ids_.at(i), std::make_pair(ground, obstacles)));

28
guilib/src/MainWindow.cpp
View File

@@ -960,8 +960,15 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
totalTime.start();
//Affichage des stats et images
int refMapId = uValue(stat.getMapIds(), stat.refImageId(), -1);
int loopMapId = uValue(stat.getMapIds(), stat.loopClosureId(), uValue(stat.getMapIds(), stat.localLoopClosureId(), -1));
int refMapId = -1, loopMapId = -1;
if(uContains(stat.getSignatures(), stat.refImageId()))
{
refMapId = stat.getSignatures().at(stat.refImageId()).mapId();
}
if(uContains(stat.getSignatures(), stat.loopClosureId()))
{
loopMapId = stat.getSignatures().at(stat.loopClosureId()).mapId();
}
_ui->label_refId->setText(QString("New ID = %1 [%2]").arg(stat.refImageId()).arg(refMapId));
_ui->label_matchId->clear();
@@ -985,9 +992,13 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
// update cache
Signature signature = stat.getSignature();
signature.sensorData().uncompressData(); // make sure data are uncompressed
_cachedSignatures.insert(stat.getSignature().id(), signature);
Signature signature;
if(uContains(stat.getSignatures(), stat.refImageId()))
{
signature = stat.getSignatures().at(stat.refImageId());
signature.sensorData().uncompressData(); // make sure data are uncompressed
_cachedSignatures.insert(signature.id(), signature);
}
int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
@@ -1164,10 +1175,15 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(stat.poses().size())
{
// update pose only if odometry is not received
std::map<int, int> mapIds;
for(std::map<int, Signature>::const_iterator iter=stat.getSignatures().begin(); iter!=stat.getSignatures().end();++iter)
{
mapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
}
updateMapCloud(stat.poses(),
_odometryReceived||stat.poses().size()==0?Transform():stat.poses().rbegin()->second,
stat.constraints(),
stat.getMapIds());
mapIds);
_odometryReceived = false;