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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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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());