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Added "Vis/UseDepthAsMask" parameter (don't detect features where depth is not available or it is over "Vis/MaxDepth")

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matlabbe
2016-01-13 09:20:15 -05:00
parent f6924ba48b
commit 136867253d
10 changed files with 179 additions and 58 deletions
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corelib/src/Memory.cpp
+5 -1
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@@ -89,6 +89,7 @@ Memory::Memory(const ParametersMap & parameters) :
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
_rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()),
_useDepthAsMask(Parameters::defaultMemUseDepthAsMask()),
_idCount(kIdStart),
_idMapCount(kIdStart),
_lastSignature(0),
@@ -402,6 +403,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
Parameters::parse(parameters, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving);
Parameters::parse(parameters, Parameters::kMemUseDepthAsMask(), _useDepthAsMask);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
UASSERT_MSG(_similarityThreshold >= 0.0f && _similarityThreshold <= 1.0f, uFormat("value=%f", _similarityThreshold).c_str());
@@ -3091,7 +3093,9 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
imageMono = data.imageRaw();
}
keypoints = _feature2D->generateKeypoints(imageMono);
keypoints = _feature2D->generateKeypoints(
imageMono,
_useDepthAsMask&&!data.depthRaw().empty()?data.depthRaw():cv::Mat());
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_detection(), t*1000.0f);
UDEBUG("time keypoints (%d) = %fs", (int)keypoints.size(), t);