fixed sensor data not loaded on 0.10.0 database version

corelib/src/DBDriverSqlite3.cpp

@@ -2608,6 +2608,10 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
 	}
 	UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
 
+	// scan_max_pts
+	rc = sqlite3_bind_int(ppStmt, index++, sensorData.laserScanMaxPts());
+	UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
+
 	// scan
 	if(!sensorData.laserScanCompressed().empty())
 	{
@@ -2619,10 +2623,6 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
 	}
 	UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
 
-	// scan_max_pts
-	rc = sqlite3_bind_int(ppStmt, index++, sensorData.laserScanMaxPts());
-	UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
-
 	//step
 	rc=sqlite3_step(ppStmt);
 	UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());

corelib/src/Memory.cpp

@@ -2331,7 +2331,9 @@ Transform Memory::computeIcpTransform(
 		}
 		else
 		{
-			msg = "Depths 3D empty?!?";
+			msg = uFormat("Depths 3D empty?!? (new[%d]=%d old[%d]=%d)",
+					newS.id(), newS.sensorData().depthOrRightRaw().total(),
+					oldS.id(), oldS.sensorData().depthOrRightRaw().total());
 			UERROR(msg.c_str());
 		}
 	}
@@ -2459,7 +2461,9 @@ Transform Memory::computeIcpTransform(
 		}
 		else
 		{
-			msg = "Depths 2D empty?!?";
+			msg = uFormat("Depths 2D empty?!? (new[%d]=%d old[%d]=%d)",
+					newS.id(), newS.sensorData().laserScanRaw().total(),
+					oldS.id(), oldS.sensorData().laserScanRaw().total());
 			UERROR(msg.c_str());
 		}
 	}
@@ -3148,6 +3152,10 @@ SensorData Memory::getNodeData(int nodeId, bool uncompressedData)
 		else
 		{
 			_dbDriver->getNodeData(nodeId, r);
+			if(uncompressedData)
+			{
+				r.uncompressData();
+			}
 		}
 	}
 

corelib/src/Rtabmap.cpp

@@ -2180,6 +2180,7 @@ bool Rtabmap::process(
 	//==============================================================
 	// Finalize statistics and log files
 	//==============================================================
+	int localGraphSize = 0;
 	if(_publishStats)
 	{
 		statistics_.addStatistic(Statistics::kTimingStatistics_creation(), timeStatsCreation*1000);
@@ -2240,6 +2241,7 @@ bool Rtabmap::process(
 		statistics_.setConstraints(constraints);
 		statistics_.setSignatures(signatures);
 		statistics_.addStatistic(Statistics::kMemoryLocal_graph_size(), poses.size());
+		localGraphSize = poses.size();
 	}
 
 	//Start trashing
@@ -2271,7 +2273,7 @@ bool Rtabmap::process(
 									timeEmptyingTrash,
 									timeRetrievalDbAccess,
 									timeAddLoopClosureLink);
-		std::string logI = uFormat("%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",
+		std::string logI = uFormat("%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",
 									_loopClosureHypothesis.first,
 									_highestHypothesis.first,
 									(int)signaturesRemoved.size(),
@@ -2286,9 +2288,11 @@ bool Rtabmap::process(
 									lcHypothesisReactivated,
 									refUniqueWordsCount,
 									retrievalId,
-									0.0f,
+									0,
 									rehearsalMaxId,
-									rehearsalMaxId>0?1:0);
+									rehearsalMaxId>0?1:0,
+									localGraphSize,
+									data.id());
 		if(_statisticLogsBufferedInRAM)
 		{
 			_bufferedLogsF.push_back(logF);

corelib/src/SensorData.cpp

@@ -367,7 +367,9 @@ SensorData::SensorData(
 
 void SensorData::uncompressData()
 {
-	uncompressData(&_imageRaw, &_depthOrRightRaw, &_laserScanRaw);
+	uncompressData(_imageCompressed.empty()?0:&_imageRaw,
+				_depthOrRightCompressed.empty()?0:&_depthOrRightRaw,
+				_laserScanCompressed.empty()?0:&_laserScanRaw);
 }
 
 void SensorData::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * laserScanRaw)
@@ -426,14 +428,27 @@ void SensorData::uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv:
 		if(imageRaw && imageRaw->empty())
 		{
 			*imageRaw = ctImage.getUncompressedData();
+			if(imageRaw->empty())
+			{
+				UWARN("Requested raw image data, but the sensor data (%d) doesn't have image.", this->id());
+			}
 		}
 		if(depthRaw && depthRaw->empty())
 		{
 			*depthRaw = ctDepth.getUncompressedData();
+			if(depthRaw->empty())
+			{
+				UWARN("Requested depth/right image data, but the sensor data (%d) doesn't have depth/right image.", this->id());
+			}
 		}
 		if(laserScanRaw && laserScanRaw->empty())
 		{
 			*laserScanRaw = ctLaserScan.getUncompressedData();
+
+			if(laserScanRaw->empty())
+			{
+				UWARN("Requested laser scan data, but the sensor data (%d) doesn't have laser scan.", this->id());
+			}
 		}
 	}
 }