RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted.

2026-09-02 09:30:25 +08:00 · 2020-04-30 15:07:32 -04:00
parent 5d16ae8cfe
commit 803c99cee2
4 changed files with 69 additions and 98 deletions
--- a/corelib/include/rtabmap/core/Features2d.h
+++ b/corelib/include/rtabmap/core/Features2d.h
@@ -125,6 +125,12 @@ public:
 			const cv::Mat & depth,
 			float minDepth,
 			float maxDepth);
+	static void filterKeypointsByDepth(
+			std::vector<cv::KeyPoint> & keypoints,
+			cv::Mat & descriptors,
+			std::vector<cv::Point3f> & keypoints3D,
+			float minDepth,
+			float maxDepth);

 	static void filterKeypointsByDisparity(
 				std::vector<cv::KeyPoint> & keypoints,