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Merge branch 'master' of https://github.com/introlab/rtabmap into ios

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matlabbe
2021-06-21 09:41:11 -04:00
parent a9d4fc9291 62b5f13dd8
commit 9fccb8703a
13 changed files with 101 additions and 67 deletions
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70
corelib/src/Recovery.cpp
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@@ -151,43 +151,45 @@ bool databaseRecovery(
bool rgbdEnabled = Parameters::defaultRGBDEnabled();
Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
bool odometryIgnored = !rgbdEnabled;
DBReader dbReader(backupPath, 0, odometryIgnored);
dbReader.init();
CameraInfo info;
SensorData data = dbReader.takeImage(&info);
int processed = 0;
if(progressState)
progressState->callback(uFormat("Recovering data of \"%s\"...", backupPath.c_str()));
while(data.isValid() && (progressState==0 || !progressState->isCanceled()))
{
std::string status;
if(!odometryIgnored && info.odomPose.isNull())
{
status = uFormat("Skipping node %d as it doesn't have odometry pose set.", data.id());
}
else
{
if(!odometryIgnored && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0,0)>=9999)
{
status = uFormat("High variance detected, triggering a new map...");
rtabmap.triggerNewMap();
}
if(!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity))
{
status = uFormat("Failed processing node %d.", data.id());
}
}
if(status.empty())
{
if(progressState)
progressState->callback(status);
}
DBReader dbReader(backupPath, 0, odometryIgnored);
dbReader.init();
data = dbReader.takeImage(&info);
CameraInfo info;
SensorData data = dbReader.takeImage(&info);
int processed = 0;
if (progressState)
progressState->callback(uFormat("Recovering data of \"%s\"...", backupPath.c_str()));
while (data.isValid() && (progressState == 0 || !progressState->isCanceled()))
{
std::string status;
if (!odometryIgnored && info.odomPose.isNull())
{
status = uFormat("Skipping node %d as it doesn't have odometry pose set.", data.id());
}
else
{
if (!odometryIgnored && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0, 0) >= 9999)
{
status = uFormat("High variance detected, triggering a new map...");
rtabmap.triggerNewMap();
}
if (!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity))
{
status = uFormat("Failed processing node %d.", data.id());
}
}
if (status.empty())
{
if (progressState)
progressState->callback(status);
}
if(progressState)
progressState->callback(uFormat("Processed %d/%d nodes...", ++processed, (int)ids.size()));
data = dbReader.takeImage(&info);
if (progressState)
progressState->callback(uFormat("Processed %d/%d nodes...", ++processed, (int)ids.size()));
}
}
if(progressState)

4
corelib/src/util3d_filtering.cpp
View File

@@ -582,6 +582,10 @@ typename pcl::PointCloud<PointT>::Ptr voxelizeImpl(
pcl::VoxelGrid<PointT> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);
filter.setInputCloud(cloud);
#ifdef WIN32
// Pre-allocating the cloud helps to avoid crash when freeing memory allocated inside pcl library
output->resize(cloud->size());
#endif
if(!indices->empty())
{
filter.setIndices(indices);