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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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This commit is contained in:
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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12
guilib/src/MainWindow.cpp
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@@ -991,7 +991,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
int h = cloud->height;
UASSERT(w > 1 && h > 1);
textureMesh->tex_coordinates.resize(1);
int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
int nPoints = (int)(textureMesh->cloud.data.size()/textureMesh->cloud.point_step);
textureMesh->tex_coordinates[0].resize(nPoints);
for(int i=0; i<nPoints; ++i)
{
@@ -2125,7 +2125,7 @@ void MainWindow::updateMapCloud(
jter->sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles);
_gridLocalMaps.insert(std::make_pair(iter->first, std::make_pair(ground, obstacles)));
_gridViewPoints.insert(std::make_pair(iter->first, jter->sensorData().gridViewPoint()));
_cachedGridsMemoryUsage += ground.total()*ground.elemSize() + obstacles.total()*obstacles.elemSize();
_cachedGridsMemoryUsage += (long)(ground.total()*ground.elemSize() + obstacles.total()*obstacles.elemSize());
if (ground.cols || obstacles.cols)
{
@@ -2674,12 +2674,12 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
int h = cloud->height;
UASSERT(w > 1 && h > 1);
textureMesh->tex_coordinates.resize(1);
unsigned int nPoints = outputFiltered->size();
int nPoints = (int)outputFiltered->size();
textureMesh->tex_coordinates[0].resize(nPoints);
for(unsigned int i=0; i<nPoints; ++i)
for(int i=0; i<nPoints; ++i)
{
//uv
UASSERT(i < denseToOrganizedIndices.size());
UASSERT(i < (int)denseToOrganizedIndices.size());
int originalVertex = denseToOrganizedIndices[i];
textureMesh->tex_coordinates[0][i] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
@@ -2791,7 +2791,7 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
if(_preferencesDialog->isCloudsKept())
{
_cachedClouds.insert(std::make_pair(nodeId, outputPair));
_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
_createdCloudsMemoryUsage += (long)(output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int));
}
}
}