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Fixed calibration/laser not saved when compressed images are not saved to db

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This commit is contained in:
matlabbe
2016-02-19 21:05:14 -05:00
parent 081be68616
commit 0d68f74d80
5 changed files with 35 additions and 21 deletions
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guilib/src/MainWindow.cpp
+4 -4
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@@ -740,7 +740,6 @@ void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", (float)info.id, (float)info.timeDisparity*1000.0);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", (float)info.id, (float)info.timeMirroring*1000.0);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", (float)info.id, (float)info.timeScanFromDepth*1000.0);
_ui->statsToolBox->updateStat("Camera/Time depth from scan/ms", (float)info.id, (float)info.timeDepthFromScan*1000.0);
}
void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
@@ -1643,7 +1642,7 @@ void MainWindow::updateMapCloud(
else if(_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(!jter->sensorData().laserScanCompressed().empty())
if(!jter->sensorData().laserScanCompressed().empty() || !jter->sensorData().laserScanRaw().empty())
{
this->createAndAddScanToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
}
@@ -1893,7 +1892,8 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
return;
}
if(!iter->sensorData().imageCompressed().empty() && !iter->sensorData().depthOrRightCompressed().empty())
if((!iter->sensorData().imageCompressed().empty() || !iter->sensorData().imageRaw().empty()) &&
(!iter->sensorData().depthOrRightCompressed().empty() || !iter->sensorData().depthOrRightRaw().empty()))
{
cv::Mat image, depth;
SensorData data = iter->sensorData();
@@ -2101,7 +2101,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
return;
}
if(!iter->sensorData().laserScanCompressed().empty())
if(!iter->sensorData().laserScanCompressed().empty() || !iter->sensorData().laserScanRaw().empty())
{
cv::Mat scan;
iter->sensorData().uncompressData(0, 0, &scan);