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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/RegistrationVis.cpp
+9 -3
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@@ -57,7 +57,8 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_flowWinSize(Parameters::defaultVisCorFlowWinSize()),
_flowIterations(Parameters::defaultVisCorFlowIterations()),
_flowEps(Parameters::defaultVisCorFlowEps()),
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel())
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()),
_useDepthAsMask(Parameters::defaultVisUseDepthAsMask())
{
_featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType())));
@@ -92,6 +93,7 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisCorFlowIterations(), _flowIterations);
Parameters::parse(parameters, Parameters::kVisCorFlowEps(), _flowEps);
Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel);
Parameters::parse(parameters, Parameters::kVisUseDepthAsMask(), _useDepthAsMask);
UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str());
UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str());
@@ -230,7 +232,9 @@ Transform RegistrationVis::computeTransformationImpl(
fromSignature.sensorData().setImageRaw(tmp);
}
kptsFrom = detector->generateKeypoints(fromSignature.sensorData().imageRaw());
kptsFrom = detector->generateKeypoints(
fromSignature.sensorData().imageRaw(),
_useDepthAsMask&&!fromSignature.sensorData().depthRaw().empty()?fromSignature.sensorData().depthRaw():cv::Mat());
}
else
{
@@ -385,7 +389,9 @@ Transform RegistrationVis::computeTransformationImpl(
cv::cvtColor(toSignature.sensorData().imageRaw(), tmp, cv::COLOR_BGR2GRAY);
toSignature.sensorData().setImageRaw(tmp);
}
kptsTo = detector->generateKeypoints(toSignature.sensorData().imageRaw());
kptsTo = detector->generateKeypoints(
toSignature.sensorData().imageRaw(),
_useDepthAsMask&&!toSignature.sensorData().depthRaw().empty()?toSignature.sensorData().depthRaw():cv::Mat());
}
else
{