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added keypoints3 field to Image class

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1652 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-14 20:29:43 +00:00
parent 7cf89b6d76
commit 9aca634b28
6 changed files with 272 additions and 58 deletions
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13
corelib/include/rtabmap/core/Features2d.h
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@@ -66,8 +66,21 @@ void RTABMAP_EXP filterKeypointsByDepth(
float cy,
float maxDepth);
void RTABMAP_EXP filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
std::vector<cv::Point3f> & keypoints3,
float maxDepth);
void RTABMAP_EXP filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
std::vector<cv::Point3f> & keypoints3,
cv::Mat & descriptors,
float maxDepth);
void RTABMAP_EXP limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints);
void RTABMAP_EXP limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints);
void RTABMAP_EXP limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> keypoints3, int maxKeypoints);
void RTABMAP_EXP limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> keypoints3, cv::Mat & descriptors, int maxKeypoints);
cv::Rect RTABMAP_EXP computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);

47
corelib/include/rtabmap/core/Image.h
View File

@@ -47,19 +47,7 @@ public:
int id = 0,
const cv::Mat & descriptors = cv::Mat(),
Feature2D::Type featureType = Feature2D::kFeatureUndef,
const std::vector<cv::KeyPoint> & keypoints = std::vector<cv::KeyPoint>()) :
_image(image),
_id(id),
_descriptors(descriptors),
_featureType(featureType),
_keypoints(keypoints),
_fx(0.0f),
_fy(0.0f),
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity())
{
}
const std::vector<cv::KeyPoint> & keypoints = std::vector<cv::KeyPoint>());
// Metric constructor
Image(const cv::Mat & image,
@@ -70,19 +58,7 @@ public:
float cy,
const Transform & pose,
const Transform & localTransform,
int id = 0) :
_image(image),
_id(id),
_featureType(Feature2D::kFeatureUndef),
_depth(depth),
_fx(fx),
_fy(fy),
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform)
{
}
int id = 0);
// Metric constructor + 2d depth
Image(const cv::Mat & image,
@@ -94,20 +70,7 @@ public:
float cy,
const Transform & pose,
const Transform & localTransform,
int id = 0) :
_image(image),
_id(id),
_featureType(Feature2D::kFeatureUndef),
_depth(depth),
_depth2d(depth2d),
_fx(fx),
_fy(fy),
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform)
{
}
int id = 0);
virtual ~Image() {}
@@ -117,8 +80,9 @@ public:
const cv::Mat & descriptors() const {return _descriptors;}
Feature2D::Type featureType() const {return _featureType;}
const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
const std::vector<cv::Point3f> & keypoints3() const {return _keypoints3;}
void setDescriptors(const cv::Mat & descriptors, Feature2D::Type featureType) {_descriptors = descriptors; _featureType=featureType;}
void setKeypoints(const std::vector<cv::KeyPoint> & keypoints) {_keypoints = keypoints;}
void setKeypoints(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> * keypoints3 = 0);
bool isMetric() const {return !_depth.empty() || _fx != 0.0f || _fy != 0.0f || !_pose.isNull();}
void setPose(const Transform & pose) {_pose = pose;}
@@ -137,6 +101,7 @@ private:
cv::Mat _descriptors;
Feature2D::Type _featureType;
std::vector<cv::KeyPoint> _keypoints;
std::vector<cv::Point3f> _keypoints3;
// Metric stuff
cv::Mat _depth;