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fixed runtime errors for single depth camera and stereo

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Mathieu Labbe
2015-05-30 20:05:35 -04:00
parent c5046df226
commit 9e13642a47
20 changed files with 232 additions and 275 deletions
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corelib/src/SensorData.cpp
+13 -15
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@@ -169,15 +169,15 @@ SensorData::SensorData(
depth.type() == CV_16UC1); // Depth in millimetre
_depthOrRightRaw = depth;
}
if(laserScan.rows == 1)
if(laserScan.type() == CV_32FC2)
{
UASSERT(laserScan.type() == CV_8UC1); // Bytes
_laserScanCompressed = laserScan;
_laserScanRaw = laserScan;
}
else if(!laserScan.empty())
{
UASSERT(laserScan.type() == CV_32FC2);
_laserScanRaw = laserScan;
UASSERT(laserScan.type() == CV_8UC1); // Bytes
_laserScanCompressed = laserScan;
}
}
@@ -262,15 +262,14 @@ SensorData::SensorData(
_depthOrRightRaw = depth;
}
if(laserScan.rows == 1)
if(laserScan.type() == CV_32FC2)
{
UASSERT(laserScan.type() == CV_8UC1); // Bytes
_laserScanCompressed = laserScan;
_laserScanRaw = laserScan;
}
else if(!laserScan.empty())
{
UASSERT(laserScan.type() == CV_32FC2);
_laserScanRaw = laserScan;
UASSERT(laserScan.type() == CV_8UC1); // Bytes
_laserScanCompressed = laserScan;
}
for(unsigned int i=0; i<cameraModels.size(); ++i)
@@ -355,15 +354,14 @@ SensorData::SensorData(
_depthOrRightRaw = right;
}
if(laserScan.rows == 1)
if(laserScan.type() == CV_32FC2)
{
UASSERT(laserScan.type() == CV_8UC1); // Bytes
_laserScanCompressed = laserScan;
_laserScanRaw = laserScan;
}
else if(!laserScan.empty())
{
UASSERT(laserScan.type() == CV_32FC2);
_laserScanRaw = laserScan;
UASSERT(laserScan.type() == CV_8UC1); // Bytes
_laserScanCompressed = laserScan;
}
}