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DbViewer: fixed voxelize assert when voxel size is set and there are no laser scans in database

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This commit is contained in:
matlabbe
2017-08-04 10:47:25 -04:00
parent 459bbda60c
commit d8a6ed4ba6
2 changed files with 49 additions and 39 deletions
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76
guilib/src/DatabaseViewer.cpp
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@@ -3502,15 +3502,15 @@ void DatabaseViewer::updateConstraintView(
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, indicesTo.get(), ui_->parameters_toolbox->getParameters());
}
if(cloudTo.get() && cloudTo->size())
if(cloudTo.get() && indicesTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
}
// Gain compensation
if(ui_->doubleSpinBox_gainCompensationRadius->value()>0.0 &&
cloudFrom.get() && cloudFrom->size() &&
cloudTo.get() && cloudTo->size())
cloudFrom.get() && indicesFrom->size() &&
cloudTo.get() && indicesTo->size())
{
UTimer t;
GainCompensator compensator(ui_->doubleSpinBox_gainCompensationRadius->value());
@@ -3520,7 +3520,7 @@ void DatabaseViewer::updateConstraintView(
UINFO("Gain compensation time = %fs", t.ticks());
}
if(cloudFrom.get() && cloudFrom->size())
if(cloudFrom.get() && indicesFrom->size())
{
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
@@ -3528,7 +3528,7 @@ void DatabaseViewer::updateConstraintView(
}
constraintsViewer_->addCloud("cloud0", cloudFrom, pose, Qt::red);
}
if(cloudTo.get() && cloudTo->size())
if(cloudTo.get() && indicesTo->size())
{
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
@@ -3755,45 +3755,51 @@ void DatabaseViewer::updateConstraintView(
// Added loop closure scans
constraintsViewer_->removeCloud("scan0");
constraintsViewer_->removeCloud("scan1");
if(dataFrom.laserScanRaw().channels() == 6)
if(!dataFrom.laserScanRaw().empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
if(dataFrom.laserScanRaw().channels() == 6)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
}
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
}
else
if(!dataTo.laserScanRaw().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
if(dataTo.laserScanRaw().channels() == 6)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
}
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
}
if(dataTo.laserScanRaw().channels() == 6)
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
else
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
}
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
}
}