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

corelib/include/rtabmap/core/Features2d.h

@@ -141,8 +141,12 @@ public:
 public:
 	virtual ~Feature2D();
 
-	std::vector<cv::KeyPoint> generateKeypoints(const cv::Mat & image) const;
+	std::vector<cv::KeyPoint> generateKeypoints(
-	cv::Mat generateDescriptors(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+			const cv::Mat & image,
+			const cv::Mat & mask = cv::Mat()) const;
+	cv::Mat generateDescriptors(
+			const cv::Mat & image,
+			std::vector<cv::KeyPoint> & keypoints) const;
 	std::vector<cv::Point3f> generateKeypoints3D(
 			const SensorData & data,
 			const std::vector<cv::KeyPoint> & keypoints) const;
@@ -155,14 +159,14 @@ protected:
 	Feature2D(const ParametersMap & parameters = ParametersMap());
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const = 0;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const = 0;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
 
 private:
 	ParametersMap parameters_;
 	int maxFeatures_;
-	float _wordsMaxDepth; // 0=inf
+	float _maxDepth; // 0=inf
-	float _wordsMinDepth;
+	float _minDepth;
 	std::vector<float> _roiRatios; // size 4
 	int _subPixWinSize;
 	int _subPixIterations;
@@ -182,7 +186,7 @@ public:
 	virtual Feature2D::Type getType() const {return kFeatureSurf;}
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
@@ -209,7 +213,7 @@ public:
 	virtual Feature2D::Type getType() const {return kFeatureSift;}
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
@@ -232,7 +236,7 @@ public:
 	virtual Feature2D::Type getType() const {return kFeatureOrb;}
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
@@ -262,7 +266,7 @@ public:
 	virtual void parseParameters(const ParametersMap & parameters);
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 
 private:
 	int threshold_;
@@ -346,7 +350,7 @@ public:
 	virtual void parseParameters(const ParametersMap & parameters);
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 
 private:
 	double _qualityLevel;
@@ -427,7 +431,7 @@ public:
 	virtual Feature2D::Type getType() const {return kFeatureBrisk;}
 
 private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:

corelib/include/rtabmap/core/Memory.h

@@ -245,6 +245,7 @@ private:
 	float _rehearsalMaxDistance;
 	float _rehearsalMaxAngle;
 	bool _rehearsalWeightIgnoredWhileMoving;
+	bool _useDepthAsMask;
 
 	int _idCount;
 	int _idMapCount;

corelib/include/rtabmap/core/Parameters.h

@@ -207,6 +207,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Mem, InitWMWithAllNodes,      bool, false,    "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
 	RTABMAP_PARAM(Mem, ImageDecimation,         int, 1,          "Image decimation (>=1) when creating a signature.");
 	RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1,  "If > 1, downsample the laser scans when creating a signature.");
+	RTABMAP_PARAM(Mem, UseDepthAsMask,          bool, false,   "Use depth image as mask for features detection.");
 
 	// KeypointMemory (Keypoint-based)
 	RTABMAP_PARAM_COND(Kp, NNStrategy,       int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
@@ -389,7 +390,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Vis, CorFlowIterations,        int, 30,       "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
 	RTABMAP_PARAM(Vis, CorFlowEps,               float, 0.01,  "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
 	RTABMAP_PARAM(Vis, CorFlowMaxLevel,          int, 3,        "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
-
+	RTABMAP_PARAM(Vis, UseDepthAsMask,           bool, true,   "Use depth image as mask for features detection.");
 
 	// ICP registration parameters
 	RTABMAP_PARAM(Icp, MaxTranslation,            float, 0.2,   "Maximum ICP translation correction accepted (m).");

corelib/include/rtabmap/core/RegistrationVis.h

@@ -75,6 +75,7 @@ private:
 	int _flowIterations;
 	float _flowEps;
 	int _flowMaxLevel;
+	bool _useDepthAsMask;
 
 	ParametersMap _featureParameters;
 };

corelib/src/Features2d.cpp

@@ -338,8 +338,8 @@ cv::Rect Feature2D::computeRoi(const cv::Mat & image, const std::vector<float> &
 /////////////////////
 Feature2D::Feature2D(const ParametersMap & parameters) :
 		maxFeatures_(Parameters::defaultKpMaxFeatures()),
-		_wordsMaxDepth(Parameters::defaultKpMaxDepth()),
+		_maxDepth(Parameters::defaultKpMaxDepth()),
-		_wordsMinDepth(Parameters::defaultKpMinDepth()),
+		_minDepth(Parameters::defaultKpMinDepth()),
 		_roiRatios(std::vector<float>(4, 0.0f)),
 		_subPixWinSize(Parameters::defaultKpSubPixWinSize()),
 		_subPixIterations(Parameters::defaultKpSubPixIterations()),
@@ -357,8 +357,8 @@ void Feature2D::parseParameters(const ParametersMap & parameters)
 	uInsert(parameters_, parameters);
 
 	Parameters::parse(parameters, Parameters::kKpMaxFeatures(), maxFeatures_);
-	Parameters::parse(parameters, Parameters::kKpMaxDepth(), _wordsMaxDepth);
+	Parameters::parse(parameters, Parameters::kKpMaxDepth(), _maxDepth);
-	Parameters::parse(parameters, Parameters::kKpMinDepth(), _wordsMinDepth);
+	Parameters::parse(parameters, Parameters::kKpMinDepth(), _minDepth);
 	Parameters::parse(parameters, Parameters::kKpSubPixWinSize(), _subPixWinSize);
 	Parameters::parse(parameters, Parameters::kKpSubPixIterations(), _subPixIterations);
 	Parameters::parse(parameters, Parameters::kKpSubPixEps(), _subPixEps);
@@ -488,17 +488,34 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 	return feature2D;
 }
 
-std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image) const
+std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, const cv::Mat & maskIn) const
 {
 	UASSERT(!image.empty());
 	UASSERT(image.type() == CV_8UC1);
 
+	cv::Mat mask;
+	if(maskIn.type()==CV_16UC1 || maskIn.type() == CV_32FC1)
+	{
+		mask = cv::Mat::zeros(maskIn.rows, maskIn.cols, CV_8UC1);
+		for(int i=0; i<(int)mask.total(); ++i)
+		{
+			float value = maskIn.type()==CV_16UC1?float(((unsigned short*)maskIn.data)[i])/1000.0f:((float*)maskIn.data)[i];
+			if(value>_minDepth &&
+			   (_maxDepth == 0.0f || value <= _maxDepth))
+			{
+				((unsigned char*)mask.data)[i] = 1;
+			}
+		}
+	}
+
+	UASSERT(mask.empty() || (mask.cols == image.cols && mask.rows == image.rows));
+
 	std::vector<cv::KeyPoint> keypoints;
 	UTimer timer;
 
 	// Get keypoints
 	cv::Rect roi = Feature2D::computeRoi(image, _roiRatios);
-	keypoints = this->generateKeypointsImpl(image, roi.width && roi.height?roi:cv::Rect(0,0,image.cols, image.rows));
+	keypoints = this->generateKeypointsImpl(image, roi.width && roi.height?roi:cv::Rect(0,0,image.cols, image.rows), mask);
 	UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d", timer.ticks(), keypoints.size());
 
 	limitKeypoints(keypoints, maxFeatures_);
@@ -574,7 +591,7 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
 				leftCorners,
 				status);
 
-		if(_wordsMaxDepth > 0.0f || _wordsMinDepth > 0.0f)
+		if(_maxDepth > 0.0f || _minDepth > 0.0f)
 		{
 			UASSERT(status.size() == leftCorners.size() && status.size() == rightCorners.size());
 			for(unsigned int i=0; i<status.size(); ++i)
@@ -582,8 +599,8 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
 				if(status[i] != 0)
 				{
 					float d = data.stereoCameraModel().computeDepth(leftCorners[i].x - rightCorners[i].x);
-					if((_wordsMinDepth > 0.0f && d < _wordsMinDepth) ||
+					if((_minDepth > 0.0f && d < _minDepth) ||
-					   (_wordsMaxDepth > 0.0f && d > _wordsMaxDepth))
+					   (_maxDepth > 0.0f && d > _maxDepth))
 					{
 						status[i] = 0;
 					}
@@ -604,7 +621,7 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
 				data.depthOrRightRaw(),
 				data.cameraModels());
 
-		if(_wordsMaxDepth > 0.0f || _wordsMinDepth > 0.0f)
+		if(_maxDepth > 0.0f || _minDepth > 0.0f)
 		{
 			UASSERT(keypoints3D.size() == keypoints.size());
 			bool isInMM = data.depthRaw().type() == CV_16UC1;
@@ -617,7 +634,7 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
 				if(u >=0 && u<data.depthRaw().cols && v >=0 && v<data.depthRaw().rows)
 				{
 					float d = isInMM?(float)data.depthRaw().at<uint16_t>(v,u)*0.001f:data.depthRaw().at<float>(v,u);
-					if(uIsFinite(d) && d>_wordsMinDepth && (_wordsMaxDepth <= 0.0f || d < _wordsMaxDepth))
+					if(uIsFinite(d) && d>_minDepth && (_maxDepth <= 0.0f || d < _maxDepth))
 					{
 						reject = false;
 					}
@@ -697,26 +714,33 @@ void SURF::parseParameters(const ParametersMap & parameters)
 #endif
 }
 
-std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
+std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
 
 #if RTABMAP_NONFREE == 1
 	cv::Mat imgRoi(image, roi);
+	cv::Mat maskRoi;
+	if(!mask.empty())
+	{
+		maskRoi = cv::Mat(mask, roi);
+	}
 	if(gpuVersion_)
 	{
 #if CV_MAJOR_VERSION < 3
 		cv::gpu::GpuMat imgGpu(imgRoi);
-		(*_gpuSurf.obj)(imgGpu, cv::gpu::GpuMat(), keypoints);
+		cv::gpu::GpuMat maskGpu(maskRoi);
+		(*_gpuSurf.obj)(imgGpu, maskGpu, keypoints);
 #else
 		cv::cuda::GpuMat imgGpu(imgRoi);
-		(*_gpuSurf.get())(imgGpu, cv::cuda::GpuMat(), keypoints);
+		cv::cuda::GpuMat maskGpu(maskRoi);
+		(*_gpuSurf.get())(imgGpu, maskGpu, keypoints);
 #endif
 	}
 	else
 	{
-		_surf->detect(imgRoi, keypoints);
+		_surf->detect(imgRoi, keypoints, maskRoi);
 	}
 #else
 	UWARN("RTAB-Map is not built with OpenCV nonfree module so SURF cannot be used!");
@@ -798,13 +822,18 @@ void SIFT::parseParameters(const ParametersMap & parameters)
 #endif
 }
 
-std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
+std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
 #if RTABMAP_NONFREE == 1
 	cv::Mat imgRoi(image, roi);
-	_sift->detect(imgRoi, keypoints); // Opencv keypoints
+	cv::Mat maskRoi;
+	if(!mask.empty())
+	{
+		maskRoi = cv::Mat(mask, roi);
+	}
+	_sift->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
 #else
 	UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
 #endif
@@ -902,17 +931,23 @@ void ORB::parseParameters(const ParametersMap & parameters)
 	}
 }
 
-std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
+std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
 	cv::Mat imgRoi(image, roi);
+	cv::Mat maskRoi;
+	if(!mask.empty())
+	{
+		maskRoi = cv::Mat(mask, roi);
+	}
 
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
 		cv::gpu::GpuMat imgGpu(imgRoi);
-		(*_gpuOrb.obj)(imgGpu, cv::gpu::GpuMat(), keypoints);
+		cv::gpu::GpuMat maskGpu(maskRoi);
+		(*_gpuOrb.obj)(imgGpu, maskGpu, keypoints);
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 		UFATAL("not implemented");
@@ -921,7 +956,7 @@ std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, cons
 	}
 	else
 	{
-		_orb->detect(imgRoi, keypoints);
+		_orb->detect(imgRoi, keypoints, maskRoi);
 	}
 
 	return keypoints;
@@ -1068,16 +1103,22 @@ void FAST::parseParameters(const ParametersMap & parameters)
 	}
 }
 
-std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
+std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
 	cv::Mat imgRoi(image, roi);
+	cv::Mat maskRoi;
+	if(!mask.empty())
+	{
+		maskRoi = cv::Mat(mask, roi);
+	}
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
 		cv::gpu::GpuMat imgGpu(imgRoi);
-		(*_gpuFast.obj)(imgGpu, cv::gpu::GpuMat(), keypoints);
+		cv::gpu::GpuMat maskGpu(maskRoi);
+		(*_gpuFast.obj)(imgGpu, maskGpu, keypoints);
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 		UFATAL("not implemented");
@@ -1086,7 +1127,7 @@ std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, con
 	}
 	else
 	{
-		_fast->detect(imgRoi, keypoints); // Opencv keypoints
+		_fast->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
 	}
 	return keypoints;
 }
@@ -1250,12 +1291,17 @@ void GFTT::parseParameters(const ParametersMap & parameters)
 #endif
 }
 
-std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
+std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
 	cv::Mat imgRoi(image, roi);
-	_gftt->detect(imgRoi, keypoints); // Opencv keypoints
+	cv::Mat maskRoi;
+	if(!mask.empty())
+	{
+		maskRoi = cv::Mat(mask, roi);
+	}
+	_gftt->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
 	return keypoints;
 }
 
@@ -1414,12 +1460,17 @@ void BRISK::parseParameters(const ParametersMap & parameters)
 #endif
 }
 
-std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
+std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
 	cv::Mat imgRoi(image, roi);
-	brisk_->detect(imgRoi, keypoints); // Opencv keypoints
+	cv::Mat maskRoi;
+	if(!mask.empty())
+	{
+		maskRoi = cv::Mat(mask, roi);
+	}
+	brisk_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
 	return keypoints;
 }
 

corelib/src/Memory.cpp

@@ -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);

corelib/src/OdometryLocalMap.cpp

@@ -65,12 +65,15 @@ OdometryLocalMap::OdometryLocalMap(const ParametersMap & parameters) :
 	float minDepth = Parameters::defaultVisMinDepth();
 	float maxDepth = Parameters::defaultVisMaxDepth();
 	std::string roi = Parameters::defaultVisRoiRatios();
+	bool useDepthAsMask = Parameters::defaultVisUseDepthAsMask();
 	Parameters::parse(parameters, Parameters::kVisMinDepth(), minDepth);
 	Parameters::parse(parameters, Parameters::kVisMaxDepth(), maxDepth);
 	Parameters::parse(parameters, Parameters::kVisRoiRatios(), roi);
+	Parameters::parse(parameters, Parameters::kVisUseDepthAsMask(), useDepthAsMask);
 	customParameters.insert(ParametersPair(Parameters::kKpMinDepth(), uNumber2Str(minDepth)));
 	customParameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(maxDepth)));
 	customParameters.insert(ParametersPair(Parameters::kKpRoiRatios(), roi));
+	customParameters.insert(ParametersPair(Parameters::kMemUseDepthAsMask(), uBool2Str(useDepthAsMask)));
 	customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
 	customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "false"));
 	customParameters.insert(ParametersPair(Parameters::kMemSTMSize(), "0"));

corelib/src/RegistrationVis.cpp

@@ -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
 				{

guilib/src/PreferencesDialog.cpp

@@ -494,7 +494,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
 	_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
 	_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
-
+	_ui->checkBox_useDepthAsMask->setObjectName(Parameters::kMemUseDepthAsMask().c_str());
 
 	// Database
 	_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
@@ -646,6 +646,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
 	_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
 	_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
+	_ui->loopClosure_useDepthAsMask->setObjectName(Parameters::kVisUseDepthAsMask().c_str());
 
 	_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
 	_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-139</y>
             <width>681</width>
             <height>1888</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>10</number>
+                <number>7</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4976,7 +4976,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="1">
+                         <item row="6" column="1">
                           <widget class="QLabel" name="label_101">
                            <property name="text">
                             <string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
@@ -4989,7 +4989,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="7" column="0">
+                         <item row="8" column="0">
                           <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
                            <property name="suffix">
                             <string> %</string>
@@ -4999,7 +4999,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="8" column="1">
+                         <item row="9" column="1">
                           <widget class="QLabel" name="label_99">
                            <property name="text">
                             <string>Top ROI ratio (0 = no change).</string>
@@ -5098,14 +5098,14 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="0">
+                         <item row="6" column="0">
                           <widget class="QLineEdit" name="lineEdit_kp_roi">
                            <property name="readOnly">
                             <bool>true</bool>
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="0">
+                         <item row="7" column="0">
                           <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
                            <property name="suffix">
                             <string> %</string>
@@ -5115,7 +5115,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="1">
+                         <item row="7" column="1">
                           <widget class="QLabel" name="label_97">
                            <property name="text">
                             <string>Left ROI ratio (0 = no change).</string>
@@ -5128,7 +5128,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="7" column="1">
+                         <item row="8" column="1">
                           <widget class="QLabel" name="label_98">
                            <property name="text">
                             <string>Right ROI ratio (0 = no change).</string>
@@ -5141,7 +5141,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="8" column="0">
+                         <item row="9" column="0">
                           <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
                            <property name="suffix">
                             <string> %</string>
@@ -5151,7 +5151,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="9" column="0">
+                         <item row="10" column="0">
                           <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
                            <property name="suffix">
                             <string> %</string>
@@ -5161,7 +5161,7 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="9" column="1">
+                         <item row="10" column="1">
                           <widget class="QLabel" name="label_100">
                            <property name="text">
                             <string>Bottom ROI ratio (0 = no change).</string>
@@ -5215,6 +5215,35 @@ generate the number of words requested.</string>
                            </property>
                           </widget>
                          </item>
+                         <item row="5" column="1">
+                          <widget class="QLabel" name="label_123">
+                           <property name="toolTip">
+                            <string>0 means that the response (hessian) threshold 
+used for the detector will not be adapted. 
+Otherwise, the threshold is modified to 
+generate the number of words requested.</string>
+                           </property>
+                           <property name="text">
+                            <string>Use depth image as mask for feature detection.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="5" column="0">
+                          <widget class="QCheckBox" name="checkBox_useDepthAsMask">
+                           <property name="text">
+                            <string/>
+                           </property>
+                           <property name="checked">
+                            <bool>true</bool>
+                           </property>
+                          </widget>
+                         </item>
                         </layout>
                        </item>
                        <item>
@@ -8739,7 +8768,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="1">
+                         <item row="6" column="1">
                           <widget class="QLabel" name="label_261">
                            <property name="text">
                             <string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
@@ -8752,7 +8781,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="0">
+                         <item row="6" column="0">
                           <widget class="QLineEdit" name="loopClosure_roi"/>
                          </item>
                          <item row="2" column="0">
@@ -8811,6 +8840,26 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                            </property>
                           </widget>
                          </item>
+                         <item row="5" column="1">
+                          <widget class="QLabel" name="label_290">
+                           <property name="text">
+                            <string>Use depth image as mask for feature detection.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="5" column="0">
+                          <widget class="QCheckBox" name="loopClosure_useDepthAsMask">
+                           <property name="text">
+                            <string/>
+                           </property>
+                          </widget>
+                         </item>
                         </layout>
                        </item>
                        <item>