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ImageView: Fixed feature's depth value when depth image is not the same size as the RGB image

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This commit is contained in:
matlabbe
2016-10-17 13:30:35 -04:00
parent 07ff1a7717
commit 1853cfde9b
3 changed files with 54 additions and 11 deletions
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38
guilib/src/ImageView.cpp
View File

@@ -654,9 +654,26 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
qDeleteAll(_features);
_features.clear();
float xRatio = 0;
float yRatio = 0;
if (this->sceneRect().isValid() && !depth.empty() && int(this->sceneRect().height()) % depth.rows == 0 && int(this->sceneRect().width()) % depth.cols == 0)
{
UDEBUG("depth=%dx%d sceneRect=%fx%f", depth.cols, depth.rows, this->sceneRect().width(), this->sceneRect().height());
xRatio = float(depth.cols)/float(this->sceneRect().width());
yRatio = float(depth.rows)/float(this->sceneRect().height());
UDEBUG("xRatio=%f yRatio=%f", xRatio, yRatio);
}
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
addFeature(iter->first, iter->second, depth.empty()?0:util2d::getDepth(depth, iter->second.pt.x, iter->second.pt.y, false), color);
if (xRatio > 0 && yRatio > 0)
{
addFeature(iter->first, iter->second, util2d::getDepth(depth, iter->second.pt.x*xRatio, iter->second.pt.y*yRatio, false), color);
}
else
{
addFeature(iter->first, iter->second, 0, color);
}
}
if(!_graphicsView->isVisible())
@@ -670,9 +687,26 @@ void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const cv
qDeleteAll(_features);
_features.clear();
float xRatio = 0;
float yRatio = 0;
if (this->sceneRect().isValid() && !depth.empty() && int(this->sceneRect().height()) % depth.rows == 0 && int(this->sceneRect().width()) % depth.cols == 0)
{
UDEBUG("depth=%dx%d sceneRect=%fx%f", depth.cols, depth.rows, this->sceneRect().width(), this->sceneRect().height());
xRatio = float(depth.cols) / float(this->sceneRect().width());
yRatio = float(depth.rows) / float(this->sceneRect().height());
UDEBUG("xRatio=%f yRatio=%f", xRatio, yRatio);
}
for(unsigned int i = 0; i< features.size(); ++i )
{
addFeature(i, features[i], depth.empty()?0:util2d::getDepth(depth, features[i].pt.x, features[i].pt.y, false), color);
if(xRatio > 0 && yRatio > 0)
{
addFeature(i, features[i], util2d::getDepth(depth, features[i].pt.x*xRatio, features[i].pt.y*yRatio, false), color);
}
else
{
addFeature(i, features[i], 0, color);
}
}
if(!_graphicsView->isVisible())