i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed mask when there are inf values in depth image

Browse Source
This commit is contained in:
matlabbe
2019-08-16 16:38:25 -04:00
parent 2a1b737470
commit 38044040a6
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/Features2d.cpp
View File

@@ -541,7 +541,8 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
} }
if(value>_minDepth && if(value>_minDepth &&
(_maxDepth == 0.0f || value <= _maxDepth)) (_maxDepth == 0.0f || value <= _maxDepth) &&
uIsFinite(value))
{ {
((unsigned char*)mask.data)[i] = 255; // ORB uses 255 to handle pyramids ((unsigned char*)mask.data)[i] = 255; // ORB uses 255 to handle pyramids
} }