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GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null).

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This commit is contained in:
matlabbe
2020-04-08 20:00:41 -04:00
parent 82a19a2ff1
commit c0313a6d09
3 changed files with 54 additions and 37 deletions
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11
corelib/src/CameraThread.cpp
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@@ -189,9 +189,16 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
{
UASSERT(dataPtr!=0);
SensorData & data = *dataPtr;
if(_colorOnly && !data.depthRaw().empty())
if(_colorOnly)
{
data.setRGBDImage(data.imageRaw(), cv::Mat(), data.cameraModels());
if(!data.depthRaw().empty())
{
data.setRGBDImage(data.imageRaw(), cv::Mat(), data.cameraModels());
}
else if(!data.rightRaw().empty())
{
data.setRGBDImage(data.imageRaw(), cv::Mat(), data.stereoCameraModel().left());
}
}
if(_distortionModel && !data.depthRaw().empty())

16
corelib/src/DBDriverSqlite3.cpp
View File

@@ -3080,6 +3080,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
std::multimap<int, cv::KeyPoint> visualWords;
std::multimap<int, cv::Point3f> visualWords3;
std::multimap<int, cv::Mat> descriptors;
bool allWords3NaN = true;
cv::Point3f depth(0,0,0);
// Process the result if one
@@ -3131,6 +3132,11 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
visualWords.insert(visualWords.end(), std::make_pair(visualWordId, kpt));
visualWords3.insert(visualWords3.end(), std::make_pair(visualWordId, depth));
if(allWords3NaN && util3d::isFinite(depth))
{
allWords3NaN = false;
}
if(uStrNumCmp(_version, "0.11.2") >= 0)
{
descriptorSize = sqlite3_column_int(ppStmt, index++); // VisualWord descriptor size
@@ -3172,9 +3178,12 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
else
{
(*iter)->setWords(visualWords);
(*iter)->setWords3(visualWords3);
if(!allWords3NaN)
{
(*iter)->setWords3(visualWords3);
}
(*iter)->setWordsDescriptors(descriptors);
ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), (int)visualWords3.size(), (int)descriptors.size(), (*iter)->id());
ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), allWords3NaN?0:(int)visualWords3.size(), (int)descriptors.size(), (*iter)->id());
}
//reset
@@ -4191,6 +4200,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures)
query = queryStepKeypoint();
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
float nanFloat = std::numeric_limits<float>::quiet_NaN ();
for(std::list<Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
{
UASSERT((*i)->getWords3().empty() || (*i)->getWords().size() == (*i)->getWords3().size());
@@ -4200,7 +4210,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures)
std::multimap<int, cv::Mat>::const_iterator d=(*i)->getWordsDescriptors().begin();
for(std::multimap<int, cv::KeyPoint>::const_iterator w=(*i)->getWords().begin(); w!=(*i)->getWords().end(); ++w)
{
cv::Point3f pt(0,0,0);
cv::Point3f pt(nanFloat,nanFloat,nanFloat);
if(p!=(*i)->getWords3().end())
{
UASSERT(w->first == p->first); // must be same id!