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Stereo: Fixed min/max depth filtering

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This commit is contained in:
matlabbe
2016-03-13 16:58:36 -04:00
parent be559c181a
commit 04df6ba41c
8 changed files with 202 additions and 75 deletions
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2
corelib/include/rtabmap/core/Features2d.h
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@@ -138,6 +138,8 @@ public:
static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
int getMaxFeatures() const {return maxFeatures_;}
float getMinDepth() const {return _minDepth;}
float getMaxDepth() const {return _maxDepth;}
public:
virtual ~Feature2D();

16
corelib/include/rtabmap/core/util3d_features.h
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@@ -47,23 +47,31 @@ namespace util3d
std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DDepth(
const std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & depth,
const CameraModel & cameraModel);
const CameraModel & cameraModel,
float minDepth = 0,
float maxDepth = 0);
std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DDepth(
const std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & depth,
const std::vector<CameraModel> & cameraModels);
const std::vector<CameraModel> & cameraModels,
float minDepth = 0,
float maxDepth = 0);
std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DDisparity(
const std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & disparity,
const StereoCameraModel & stereoCameraMode);
const StereoCameraModel & stereoCameraModel,
float minDepth = 0,
float maxDepth = 0);
std::vector<cv::Point3f> RTABMAP_EXP generateKeypoints3DStereo(
const std::vector<cv::Point2f> & leftCorners,
const std::vector<cv::Point2f> & rightCorners,
const StereoCameraModel & model,
const std::vector<unsigned char> & mask = std::vector<unsigned char>());
const std::vector<unsigned char> & mask = std::vector<unsigned char>(),
float minDepth = 0,
float maxDepth = 0);
std::map<int, cv::Point3f> RTABMAP_EXP generateWords3DMono(
const std::map<int, cv::KeyPoint> & kpts,