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Fixed fatal error in #91

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matlabbe
2016-07-04 13:39:33 -04:00
parent 84726fa45c
commit 9dfc7801a0
1 changed files with 2 additions and 1 deletions
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corelib/src/DBDriverSqlite3.cpp
+2 -1
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@@ -3180,11 +3180,12 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
std::vector<float> calibration; std::vector<float> calibration;
// multi-cameras [fx,fy,cx,cy,width,height,local_transform, ... ,fx,fy,cx,cy,width,height,local_transform] (6+12)*float * numCameras // multi-cameras [fx,fy,cx,cy,width,height,local_transform, ... ,fx,fy,cx,cy,width,height,local_transform] (6+12)*float * numCameras
// stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float // stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float
if(sensorData.cameraModels().size()) if(sensorData.cameraModels().size() && sensorData.cameraModels()[0].isValidForProjection())
{ {
calibration.resize(sensorData.cameraModels().size() * (6+Transform().size())); calibration.resize(sensorData.cameraModels().size() * (6+Transform().size()));
for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i) for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i)
{ {
UASSERT(sensorData.cameraModels()[i].isValidForProjection());
const Transform & localTransform = sensorData.cameraModels()[i].localTransform(); const Transform & localTransform = sensorData.cameraModels()[i].localTransform();
calibration[i*(6+localTransform.size())] = sensorData.cameraModels()[i].fx(); calibration[i*(6+localTransform.size())] = sensorData.cameraModels()[i].fx();
calibration[i*(6+localTransform.size())+1] = sensorData.cameraModels()[i].fy(); calibration[i*(6+localTransform.size())+1] = sensorData.cameraModels()[i].fy();