fixed DatabaseViewer Export's options

corelib/include/rtabmap/core/Signature.h

@@ -144,6 +144,7 @@ public:
 	float getCx() const {return _cx;}
 	float getCy() const {return _cy;}
 	const Transform & getPose() const {return _pose;}
+	void getPoseVariance(float & rotVariance, float & transVariance) const;
 	const Transform & getLocalTransform() const {return _localTransform;}
 	void setDepthRaw(const cv::Mat & depth) {_depthRaw = depth;}
 	const cv::Mat & getDepthRaw() const {return _depthRaw;}

corelib/src/SensorData.cpp

@@ -67,7 +67,8 @@ SensorData::SensorData(const cv::Mat & image,
 	_laserScanMaxPts(0),
 	_userData(userData)
 {
-	UASSERT(image.type() == CV_8UC1 || // Mono
+	UASSERT(image.empty() ||
+			image.type() == CV_8UC1 || // Mono
 			image.type() == CV_8UC3);  // RGB
 }
 
@@ -100,7 +101,8 @@ SensorData::SensorData(const cv::Mat & image,
 	_laserScanMaxPts(0),
 	_userData(userData)
 {
-	UASSERT(image.type() == CV_8UC1 || // Mono
+	UASSERT(image.empty() ||
+			image.type() == CV_8UC1 || // Mono
 			image.type() == CV_8UC3);  // RGB
 	UASSERT(depthOrRightImage.empty() ||
 			depthOrRightImage.type() == CV_32FC1 || // Depth in meter
@@ -143,12 +145,13 @@ SensorData::SensorData(const cv::Mat & laserScan,
 	_userData(userData)
 {
 	UASSERT(_laserScan.empty() || _laserScan.type() == CV_32FC2);
-	UASSERT(image.type() == CV_8UC1 || // Mono
+	UASSERT(image.empty() ||
+			image.type() == CV_8UC1 || // Mono
 			image.type() == CV_8UC3);  // RGB
-	UASSERT(depthOrRightImage.type() == CV_32FC1 || // Depth in meter
+	UASSERT(depthOrRightImage.empty() ||
+			depthOrRightImage.type() == CV_32FC1 || // Depth in meter
 			depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
 			depthOrRightImage.type() == CV_8U);     // Right stereo image
-	UASSERT(!depthOrRightImage.empty());
 	UASSERT(!_localTransform.isNull());
 	UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
 }

corelib/src/Signature.cpp

@@ -254,14 +254,13 @@ float Signature::getDepthFy() const {return getFy();}
 float Signature::getDepthCx() const {return getCx();}
 float Signature::getDepthCy() const {return getCy();}
 
-SensorData Signature::toSensorData()
+void Signature::getPoseVariance(float & rotVariance, float & transVariance) const
 {
-	this->uncompressData();
+	rotVariance = 1.0f;
-	float rotVariance = 1.0f;
+	transVariance = 1.0f;
-	float transVariance = 1.0f;
 	if(_links.size())
 	{
-		for(std::map<int, Link>::iterator iter = _links.begin(); iter!=_links.end(); ++iter)
+		for(std::map<int, Link>::const_iterator iter = _links.begin(); iter!=_links.end(); ++iter)
 		{
 			if(iter->second.kNeighbor)
 			{
@@ -275,6 +274,15 @@ SensorData Signature::toSensorData()
 			}
 		}
 	}
+}
+
+SensorData Signature::toSensorData()
+{
+	this->uncompressData();
+	float rotVariance = 1.0f;
+	float transVariance = 1.0f;
+	this->getPoseVariance(rotVariance, transVariance);
+
 	return SensorData(_laserScanRaw,
 			_laserScanMaxPts,
 			_imageRaw,

guilib/src/DatabaseViewer.cpp

@@ -723,11 +723,29 @@ void DatabaseViewer::exportDatabase()
 					int id = ids.at(i);
 
 					Signature data = memory_->getSignatureData(id, true);
-					rtabmap::SensorData sensorData = data.toSensorData();
+					float rotVariance = 1.0f;
-					if(!dialog.isUserDataExported())
+					float transVariance = 1.0f;
+					if(dialog.isOdomExported())
 					{
-						sensorData.setUserData(std::vector<unsigned char>());
+						data.getPoseVariance(rotVariance, transVariance);
 					}
+					rtabmap::SensorData sensorData(
+						dialog.isDepth2dExported()?data.getLaserScanRaw():cv::Mat(),
+						dialog.isDepth2dExported()?data.getLaserScanMaxPts():0,
+						dialog.isRgbExported()?data.getImageRaw():cv::Mat(),
+						dialog.isDepthExported()?data.getDepthRaw():cv::Mat(),
+						dialog.isRgbExported() || dialog.isDepthExported()?data.getFx():0,
+						dialog.isRgbExported() || dialog.isDepthExported()?data.getFy():0,
+						dialog.isRgbExported() || dialog.isDepthExported()?data.getCx():0,
+						dialog.isRgbExported() || dialog.isDepthExported()?data.getCy():0,
+						dialog.isRgbExported() || dialog.isDepthExported()?data.getLocalTransform():Transform::getIdentity(),
+						dialog.isOdomExported()?data.getPose():Transform(),
+						rotVariance,
+						transVariance,
+						data.id(),
+						data.getStamp(),
+						dialog.isUserDataExported()?data.getUserData():std::vector<unsigned char>());
+
 					recorder.addData(sensorData);
 
 					progressDialog->appendText(tr("Exported node %1").arg(id));