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Add missing filterKeypointsByDepth step (#1150)

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* add missing filterKeypointsByDepth step

* Fix ORBOctree not using the depth mask

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Borong Yuan
2023-10-26 13:15:34 -07:00
committed by GitHub
co-authored by matlabbe
parent 64962e8e3d
commit 8da6ea1707
2 changed files with 27 additions and 5 deletions
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corelib/src/Memory.cpp
+4
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@@ -4970,6 +4970,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);
UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t);
}
if(depthMask.empty() && (_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f))
{
_feature2D->filterKeypointsByDepth(keypoints, descriptors, keypoints3D, _feature2D->getMinDepth(), _feature2D->getMaxDepth());
}
}
}
else if(data.imageRaw().empty())