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fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-20 16:20:21 +00:00
parent faf43cc82c
commit 57dec696cf
4 changed files with 30 additions and 9 deletions
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corelib/include/rtabmap/core/Signature.h
+2 -1
View File
@@ -140,7 +140,8 @@ public:
SensorData toSensorData(); SensorData toSensorData();
void uncompressData(); void uncompressData();
void uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const; void uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw);
void uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const;
private: private:
int _id; int _id;
corelib/src/Signature.cpp
+18 -1
View File
@@ -247,7 +247,24 @@ void Signature::uncompressData()
uncompressData(&_imageRaw, &_depthRaw, &_depth2DRaw); uncompressData(&_imageRaw, &_depthRaw, &_depth2DRaw);
} }
void Signature::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const void Signature::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw)
{
uncompressDataConst(imageRaw, depthRaw, depth2DRaw);
if(imageRaw && !imageRaw->empty() && _imageRaw.empty())
{
_imageRaw = *imageRaw;
}
if(depthRaw && !depthRaw->empty() && _depthRaw.empty())
{
_depthRaw = *depthRaw;
}
if(depth2DRaw && !depth2DRaw->empty() && _depth2DRaw.empty())
{
_depth2DRaw = *depth2DRaw;
}
}
void Signature::uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const
{ {
if(imageRaw) if(imageRaw)
{ {
guilib/src/MainWindow.cpp
+2 -2
View File
@@ -4294,7 +4294,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
{ {
const Signature & s = _cachedSignatures.find(iter->first).value(); const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth; cv::Mat image, depth;
s.uncompressData(&image, &depth, 0); s.uncompressDataConst(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds) if(regenerateClouds)
{ {
@@ -4380,7 +4380,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
{ {
const Signature & s = _cachedSignatures.find(iter->first).value(); const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth; cv::Mat image, depth;
s.uncompressData(&image, &depth, 0); s.uncompressDataConst(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds) if(regenerateClouds)
{ {
guilib/src/PdfPlot.cpp
+8 -5
View File
@@ -73,11 +73,14 @@ void PdfPlotItem::showDescription(bool shown)
if(iter != _signaturesRef->constEnd() && !iter.value().getImageCompressed().empty()) if(iter != _signaturesRef->constEnd() && !iter.value().getImageCompressed().empty())
{ {
cv::Mat image; cv::Mat image;
iter.value().uncompressData(&image, 0, 0); iter.value().uncompressDataConst(&image, 0, 0);
img = uCvMat2QImage(iter.value().getImageRaw()); if(!image.empty())
QPixmap scaled = QPixmap::fromImage(img).scaledToWidth(128); {
_img = new QGraphicsPixmapItem(scaled, this); img = uCvMat2QImage(image);
_img->setVisible(false); QPixmap scaled = QPixmap::fromImage(img).scaledToWidth(128);
_img = new QGraphicsPixmapItem(scaled, this);
_img->setVisible(false);
}
} }
} }