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Removed parameters Vis/UseDepthAsMask and Mem/UseDepthAsMask (just always do it when a depth is detected)

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matlabbe
2016-03-01 14:40:40 -05:00
parent 1f999c4d28
commit a89b8cb4fe
7 changed files with 144 additions and 202 deletions
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corelib/src/Memory.cpp
+4 -4
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@@ -89,7 +89,6 @@ Memory::Memory(const ParametersMap & parameters) :
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
_rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()),
_useDepthAsMask(Parameters::defaultMemUseDepthAsMask()),
_useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()),
_idCount(kIdStart),
_idMapCount(kIdStart),
@@ -404,7 +403,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
Parameters::parse(parameters, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving);
Parameters::parse(parameters, Parameters::kMemUseDepthAsMask(), _useDepthAsMask);
Parameters::parse(parameters, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
@@ -3120,9 +3118,11 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
cv::Mat depthMask;
if(_useDepthAsMask && !data.depthRaw().empty())
if(!data.depthRaw().empty())
{
if(imageMono.rows/data.depthRaw().rows == imageMono.cols/data.depthRaw().cols)
if(imageMono.rows % data.depthRaw().rows == 0 &&
imageMono.cols % data.depthRaw().cols == 0 &&
imageMono.rows/data.depthRaw().rows == imageMono.cols/data.depthRaw().cols)
{
depthMask = util2d::interpolate(data.depthRaw(), imageMono.rows/data.depthRaw().rows, 0.1f);
}