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Stereo: Fixed min/max depth filtering

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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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8
guilib/src/DatabaseViewer.cpp
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@@ -2437,7 +2437,13 @@ void DatabaseViewer::updateStereo(const SensorData * data)
// generate kpts
std::vector<cv::KeyPoint> kpts;
uInsert(parameters, ParametersPair(Parameters::kKpMaxFeatures(), parameters.at(Parameters::kVisMaxFeatures())));
uInsert(parameters, ParametersPair(Parameters::kKpRoiRatios(), std::string(opticalFlow?"0.03 0.03 0.04 0.04":"0 0 0 0")));
uInsert(parameters, ParametersPair(Parameters::kKpMinDepth(), parameters.at(Parameters::kVisMinDepth())));
uInsert(parameters, ParametersPair(Parameters::kKpMaxDepth(), parameters.at(Parameters::kVisMaxDepth())));
uInsert(parameters, ParametersPair(Parameters::kKpDetectorStrategy(), parameters.at(Parameters::kVisFeatureType())));
uInsert(parameters, ParametersPair(Parameters::kKpRoiRatios(), parameters.at(Parameters::kVisRoiRatios())));
uInsert(parameters, ParametersPair(Parameters::kKpSubPixEps(), parameters.at(Parameters::kVisSubPixEps())));
uInsert(parameters, ParametersPair(Parameters::kKpSubPixIterations(), parameters.at(Parameters::kVisSubPixIterations())));
uInsert(parameters, ParametersPair(Parameters::kKpSubPixWinSize(), parameters.at(Parameters::kVisSubPixWinSize())));
Feature2D * kptDetector = Feature2D::create(parameters);
kpts = kptDetector->generateKeypoints(leftMono);
delete kptDetector;