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Only remove compressed raw data when publish data is false (keep features/occupancy grid)

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matlabbe
2023-08-11 16:31:26 -07:00
parent 6395487b58
commit ba5579f063
1 changed files with 52 additions and 74 deletions
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32
corelib/src/Rtabmap.cpp
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@@ -4081,15 +4081,16 @@ bool Rtabmap::process(
ULOGGER_INFO("Time creating stats = %f...", timeStatsCreation); ULOGGER_INFO("Time creating stats = %f...", timeStatsCreation);
} }
Signature lastSignatureData(signature->id()); Signature lastSignatureData = *signature;
Transform lastSignatureLocalizedPose; Transform lastSignatureLocalizedPose;
if(_optimizedPoses.find(signature->id()) != _optimizedPoses.end()) if(_optimizedPoses.find(signature->id()) != _optimizedPoses.end())
{ {
lastSignatureLocalizedPose = _optimizedPoses.at(signature->id()); lastSignatureLocalizedPose = _optimizedPoses.at(signature->id());
} }
if(_publishLastSignatureData) if(!_publishLastSignatureData)
{ {
lastSignatureData = *signature; lastSignatureData.sensorData().clearCompressedData();
lastSignatureData.sensorData().clearRawData();
} }
if(!_rawDataKept) if(!_rawDataKept)
{ {
@@ -4372,9 +4373,6 @@ bool Rtabmap::process(
poses = _optimizedPoses; poses = _optimizedPoses;
constraints = _constraints; constraints = _constraints;
} }
UDEBUG("");
if(_publishLastSignatureData)
{
UINFO("Adding data %d [%d] (rgb/left=%d depth/right=%d)", lastSignatureData.id(), lastSignatureData.mapId(), lastSignatureData.sensorData().imageRaw().empty()?0:1, lastSignatureData.sensorData().depthOrRightRaw().empty()?0:1); UINFO("Adding data %d [%d] (rgb/left=%d depth/right=%d)", lastSignatureData.id(), lastSignatureData.mapId(), lastSignatureData.sensorData().imageRaw().empty()?0:1, lastSignatureData.sensorData().depthOrRightRaw().empty()?0:1);
statistics_.addSignatureData(lastSignatureData); statistics_.addSignatureData(lastSignatureData);
@@ -4441,27 +4439,7 @@ bool Rtabmap::process(
_maxRepublished); _maxRepublished);
} }
} }
}
else
{
// only copy node info
Signature nodeInfo(
lastSignatureData.id(),
lastSignatureData.mapId(),
lastSignatureData.getWeight(),
lastSignatureData.getStamp(),
lastSignatureData.getLabel(),
lastSignatureData.getPose(),
lastSignatureData.getGroundTruthPose());
const std::vector<float> & v = lastSignatureData.getVelocity();
if(v.size() == 6)
{
nodeInfo.setVelocity(v[0], v[1], v[2], v[3], v[4], v[5]);
}
nodeInfo.sensorData().setGPS(lastSignatureData.sensorData().gps());
nodeInfo.sensorData().setEnvSensors(lastSignatureData.sensorData().envSensors());
statistics_.addSignatureData(nodeInfo);
}
UDEBUG(""); UDEBUG("");
localGraphSize = (int)poses.size(); localGraphSize = (int)poses.size();
if(!lastSignatureLocalizedPose.isNull()) if(!lastSignatureLocalizedPose.isNull())