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Backward compatibility: Fixed wrong image height set in SensorData::uncompressData()

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matlabbe
2016-09-25 18:13:49 -04:00
parent 4062b960c7
commit a4dd47374e
3 changed files with 7 additions and 4 deletions
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2
corelib/src/Memory.cpp
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@@ -3130,7 +3130,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.depthOrRightRaw().rows,
data.depthOrRightRaw().type(),
CV_16UC1, CV_32FC1, CV_8UC1).c_str());
UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(6));
UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(4) || data.laserScanRaw().type() == CV_32FC(6));
if(!data.depthOrRightRaw().empty() &&
data.cameraModels().size() == 0 &&

2
corelib/src/SensorData.cpp
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@@ -568,7 +568,7 @@ void SensorData::uncompressData(
//backward compatibility, set image size in camera model if not set
if(!_imageRaw.empty() && _cameraModels.size())
{
cv::Size size(_imageRaw.cols/_cameraModels.size(), _imageRaw.rows/_cameraModels.size());
cv::Size size(_imageRaw.cols/_cameraModels.size(), _imageRaw.rows);
for(unsigned int i=0; i<_cameraModels.size(); ++i)
{
if(_cameraModels[i].isValidForProjection() && _cameraModels[i].imageWidth() == 0)

7
corelib/src/util3d.cpp
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@@ -367,8 +367,11 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
{
UDEBUG("");
UASSERT(model.isValidForProjection());
UASSERT((model.imageHeight() == 0 && model.imageWidth() == 0) || (model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols));
UASSERT(imageRgb.rows % imageDepth.rows == 0 && imageRgb.cols % imageDepth.cols == 0);
UASSERT_MSG((model.imageHeight() == 0 && model.imageWidth() == 0) ||
(model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols),
uFormat("model=%dx%d rgb=%dx%d", model.imageWidth(), model.imageHeight(), imageRgb.cols, imageRgb.rows).c_str());
UASSERT_MSG(imageRgb.rows % imageDepth.rows == 0 && imageRgb.cols % imageDepth.cols == 0,
uFormat("rgb=%dx%d depth=%dx%d", imageRgb.cols, imageRgb.rows, imageDepth.cols, imageDepth.rows).c_str());
UASSERT(!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1));
UASSERT_MSG(imageRgb.rows % decimation == 0, uFormat("imageDepth.rows=%d decimation=%d", imageRgb.rows, decimation).c_str());
UASSERT_MSG(imageRgb.cols % decimation == 0, uFormat("imageDepth.cols=%d decimation=%d", imageRgb.cols, decimation).c_str());