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Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.

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This commit is contained in:
matlabbe
2016-03-10 09:07:44 -05:00
parent 609cc3dc59
commit cee9c65b06
10 changed files with 312 additions and 261 deletions
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corelib/src/Memory.cpp
+46 -16
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@@ -2031,15 +2031,24 @@ void Memory::removeLink(int oldId, int newId)
}
}
void Memory::removeRawData(int id)
void Memory::removeRawData(int id, bool image, bool scan, bool userData)
{
Signature * s = this->_getSignature(id);
if(s)
{
s->sensorData().setImageRaw(cv::Mat());
s->sensorData().setDepthOrRightRaw(cv::Mat());
s->sensorData().setLaserScanRaw(cv::Mat(), s->sensorData().laserScanMaxPts(), s->sensorData().laserScanMaxRange());
s->sensorData().setUserDataRaw(cv::Mat());
if(image && (!_reextractLoopClosureFeatures || !_registrationPipeline->isImageRequired()))
{
s->sensorData().setImageRaw(cv::Mat());
s->sensorData().setDepthOrRightRaw(cv::Mat());
}
if(scan && !_registrationPipeline->isScanRequired())
{
s->sensorData().setLaserScanRaw(cv::Mat(), s->sensorData().laserScanMaxPts(), s->sensorData().laserScanMaxRange());
}
if(userData && !_registrationPipeline->isUserDataRequired())
{
s->sensorData().setUserDataRaw(cv::Mat());
}
}
}
@@ -2050,21 +2059,40 @@ Transform Memory::computeTransform(
Transform guess,
RegistrationInfo * info)
{
const Signature * fromS = this->getSignature(fromId);
const Signature * toS = this->getSignature(toId);
Signature * fromS = this->_getSignature(fromId);
Signature * toS = this->_getSignature(toId);
Transform transform;
if(fromS && toS)
{
// make sure we have all data needed
if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) ||
(_registrationPipeline->isScanRequired()) ||
_registrationPipeline->isUserDataRequired())
// load binary data from database if not in RAM (if image is already here, scan and userData should be or they are null)
if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired() && fromS->sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && fromS->sensorData().imageCompressed().empty() && fromS->sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && fromS->sensorData().imageCompressed().empty() && fromS->sensorData().userDataCompressed().empty()))
{
getNodeData(fromS->id(), true);
getNodeData(toS->id(), true);
getNodeData(fromS->id());
}
if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired() && toS->sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && toS->sensorData().imageCompressed().empty() && toS->sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && toS->sensorData().imageCompressed().empty() && toS->sensorData().userDataCompressed().empty()))
{
getNodeData(toS->id());
}
// uncompress only what we need
cv::Mat imgBuf, depthBuf, laserBuf, userBuf;
fromS->sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);
toS->sensorData().uncompressData(
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);
// compute transform fromId -> toId
std::vector<int> inliersV;
@@ -2171,13 +2199,13 @@ Transform Memory::computeIcpTransform(
if(fromS && toS && _dbDriver)
{
std::list<Signature*> depthsToLoad;
//Depth required, if not in RAM, load it from LTM
if(fromS->sensorData().depthOrRightCompressed().empty() &&
//if image is already here, scan should be or it is null
if(fromS->sensorData().imageCompressed().empty() &&
fromS->sensorData().laserScanCompressed().empty())
{
depthsToLoad.push_back(fromS);
}
if(toS->sensorData().depthOrRightCompressed().empty() &&
if(toS->sensorData().imageCompressed().empty() &&
toS->sensorData().laserScanCompressed().empty())
{
depthsToLoad.push_back(toS);
@@ -2231,7 +2259,9 @@ Transform Memory::computeIcpTransformMulti(
{
Signature * s = _getSignature(iter->first);
UASSERT(s != 0);
if(s->sensorData().laserScanCompressed().empty())
//if image is already here, scan should be or it is null
if(s->sensorData().imageCompressed().empty() &&
s->sensorData().laserScanCompressed().empty())
{
depthToLoad.push_back(s);
}