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Added parameter KpMaxDepth to limit the features extracted under a specified maximum depth.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1288 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-04-03 19:59:46 +00:00
parent 1b6a8b93cb
commit 491553a80f
11 changed files with 798 additions and 657 deletions
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12
corelib/src/util3d.cpp
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@@ -405,6 +405,18 @@ void findCorrespondences(
inliers2.resize(oi);
}
pcl::PointXYZ getDepth(
const cv::Mat & depthImage,
int x, int y,
float depthConstant)
{
return getDepth(depthImage, x, y,
(float)depthImage.cols/2,
(float)depthImage.rows/2,
1.0f/depthConstant,
1.0f/depthConstant);
}
pcl::PointXYZ getDepth(const cv::Mat & depthImage,
int x, int y,
float cx, float cy,