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).

corelib/src/CameraThread.cpp

@@ -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())

corelib/src/DBDriverSqlite3.cpp

@@ -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!

guilib/src/ui/preferencesDialog.ui

@@ -65,7 +65,7 @@
             <x>0</x>
             <y>0</y>
             <width>680</width>
-            <height>3157</height>
+            <height>3197</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>7</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2876,7 +2876,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="1">
+                      <item row="10" column="1">
                        <widget class="QLabel" name="label_244">
                         <property name="text">
                          <string>Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images.</string>
@@ -2889,7 +2889,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
-                      <item row="6" column="0">
+                      <item row="7" column="0">
                        <layout class="QHBoxLayout" name="horizontalLayout_5" stretch="0,1">
                         <item>
                          <widget class="QToolButton" name="toolButton_source_path_calibration">
@@ -2989,7 +2989,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </item>
                        </widget>
                       </item>
-                      <item row="10" column="0">
+                      <item row="11" column="0">
                        <widget class="QPushButton" name="pushButton_test_camera">
                         <property name="sizePolicy">
                          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -3002,7 +3002,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
-                      <item row="8" column="0">
+                      <item row="9" column="0">
                        <widget class="QPushButton" name="pushButton_calibrate">
                         <property name="sizePolicy">
                          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -3015,7 +3015,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
-                      <item row="8" column="1">
+                      <item row="9" column="1">
                        <widget class="QLabel" name="label_24">
                         <property name="text">
                          <string>Calibration files are saved in &quot;camera_info&quot; folder of the working directory.</string>
@@ -3035,7 +3035,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="0">
+                      <item row="10" column="0">
                        <widget class="QPushButton" name="pushButton_calibrate_simple">
                         <property name="sizePolicy">
                          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -3048,7 +3048,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
-                      <item row="6" column="1">
+                      <item row="7" column="1">
                        <widget class="QLabel" name="label_18">
                         <property name="text">
                          <string>Calibration file path (*.yaml). If empty, the GUID of the camera is used (for those having one). OpenNI and Freenect drivers use factory calibration by default (so they ignore this parameter). A calibrated camera is required for RGB-D SLAM mode.</string>
@@ -3081,6 +3081,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                         </property>
                        </widget>
                       </item>
+                      <item row="6" column="1">
+                       <widget class="QLabel" name="label_229">
+                        <property name="text">
+                         <string>Only RGB images (for RGB-D cameras) or left images (for stereo cameras) are published.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="0">
+                       <widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
+                        <property name="text">
+                         <string/>
+                        </property>
+                        <property name="checked">
+                         <bool>false</bool>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </item>
                     <item>
@@ -3192,29 +3215,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                </property>
                               </widget>
                              </item>
-                             <item row="1" column="1">
-                              <widget class="QLabel" name="label_229">
-                               <property name="text">
-                                <string>Only RGB images are published.</string>
-                               </property>
-                               <property name="wordWrap">
-                                <bool>true</bool>
-                               </property>
-                               <property name="textInteractionFlags">
-                                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                               </property>
-                              </widget>
-                             </item>
-                             <item row="1" column="0">
-                              <widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
-                               <property name="text">
-                                <string/>
-                               </property>
-                               <property name="checked">
-                                <bool>false</bool>
-                               </property>
-                              </widget>
-                             </item>
                             </layout>
                            </item>
                            <item>