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0.11.2: First Google Tango release

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matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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corelib/src/SensorData.cpp
+17 -4
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@@ -481,10 +481,11 @@ void SensorData::setUserData(const cv::Mat & userData)
void SensorData::uncompressData()
{
uncompressData(_imageCompressed.empty()?0:&_imageRaw,
_depthOrRightCompressed.empty()?0:&_depthOrRightRaw,
_laserScanCompressed.empty()?0:&_laserScanRaw,
_userDataCompressed.empty()?0:&_userDataRaw);
cv::Mat tmpA, tmpB, tmpC, tmpD;
uncompressData(_imageCompressed.empty()?0:&tmpA,
_depthOrRightCompressed.empty()?0:&tmpB,
_laserScanCompressed.empty()?0:&tmpC,
_userDataCompressed.empty()?0:&tmpD);
}
void SensorData::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * laserScanRaw, cv::Mat * userDataRaw)
@@ -493,6 +494,18 @@ void SensorData::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat
if(imageRaw && !imageRaw->empty() && _imageRaw.empty())
{
_imageRaw = *imageRaw;
//backward compatibility, set image size in camera model if not set
if(!_imageRaw.empty() && _cameraModels.size())
{
cv::Size size(_imageRaw.cols/_cameraModels.size(), _imageRaw.rows/_cameraModels.size());
for(unsigned int i=0; i<_cameraModels.size(); ++i)
{
if(_cameraModels[i].isValidForProjection() && _cameraModels[i].imageWidth() == 0)
{
_cameraModels[i].setImageSize(size);
}
}
}
}
if(depthRaw && !depthRaw->empty() && _depthOrRightRaw.empty())
{