i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 18:47:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

Adding support for compressed input data and right color image. (#1463)

Browse Source
This commit is contained in:
matlabbe
2025-03-08 16:40:04 -08:00
committed by GitHub
parent d88353dc1b
commit a1b602dbe0
26 changed files with 359 additions and 123 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Features2d.cpp
+13 -2
View File
@@ -908,25 +908,36 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
if(d_imageLeft.empty()) {
d_imageLeft = cv::cuda::GpuMat(imageLeft);
}
// convert to grayscale
// convert to grayscale if not already
if(d_imageLeft.channels() > 1) {
cv::cuda::GpuMat tmp;
cv::cuda::cvtColor(d_imageLeft, tmp, cv::COLOR_BGR2GRAY);
d_imageLeft = tmp;
}
d_imageRight = data.depthOrRightRawGpu();
if(d_imageRight.empty()) {
d_imageRight = cv::cuda::GpuMat(imageRight);
}
// convert to grayscale if not already
if(d_imageRight.channels() > 1) {
cv::cuda::GpuMat tmp;
cv::cuda::cvtColor(d_imageRight, tmp, cv::COLOR_BGR2GRAY);
d_imageRight = tmp;
}
}
else
#endif
{
// convert to grayscale (right image should be already grayscale)
// convert to grayscale
if(imageLeft.channels() > 1)
{
cv::cvtColor(data.imageRaw(), imageLeft, cv::COLOR_BGR2GRAY);
}
if(imageRight.channels() > 1)
{
cv::cvtColor(data.rightRaw(), imageRight, cv::COLOR_BGR2GRAY);
}
}
std::vector<cv::Point2f> leftCorners;