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Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy

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matlabbe
2016-12-02 13:43:44 -05:00
parent a5f4468c54
commit d2287ab9f4
6 changed files with 131 additions and 88 deletions
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19
corelib/src/DBReader.cpp
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@@ -162,9 +162,24 @@ bool DBReader::init(
StereoCameraModel stereoModel;
if(_dbDriver->getCalibration(*_ids.begin(), models, stereoModel))
{
if(models.size() && models.at(0).isValidForProjection())
if(models.size())
{
_calibrated = true;
if(models.at(0).isValidForProjection())
{
_calibrated = true;
}
else if(models.at(0).fx() && models.at(0).fy() && models.at(0).imageWidth() == 0)
{
// backward compatibility for databases not saving cx,cy and imageSize
SensorData data;
_dbDriver->getNodeData(*_ids.begin(), data, true, false, false, false);
cv::Mat rgb;
data.uncompressData(&rgb, 0); // this will update camera models if old format
if(data.cameraModels().size() && data.cameraModels().at(0).isValidForProjection())
{
_calibrated = true;
}
}
}
else if(stereoModel.isValidForProjection())
{