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New parameter: Mem/ImageDecimation (save downscaled images in database), Updated default parameter RGBD/LocalLoopDetectionMaxDiffID to 50

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Mathieu Labbe
2015-02-13 15:25:40 -05:00
parent 7c65dbf6bb
commit ad05c5902a
10 changed files with 193 additions and 77 deletions
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49
corelib/src/util3d.cpp
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@@ -827,7 +827,7 @@ cv::Mat disparityFromStereoImages(
leftImage.type() == CV_8UC1 && rightImage.type() == CV_8UC1 &&
leftImage.cols == rightImage.cols &&
leftImage.rows == rightImage.rows);
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET, 160, 15);
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET, 0, 15);
cv::Mat disparity;
stereo(leftImage, rightImage, disparity, CV_16SC1);
cv::filterSpeckles(disparity, 0, 1000, 16);
@@ -2562,6 +2562,53 @@ pcl::IndicesPtr concatenate(const pcl::IndicesPtr & indicesA, const pcl::Indices
return ind;
}
cv::Mat decimate(const cv::Mat & image, int decimation)
{
UASSERT(decimation >= 1);
cv::Mat out;
if(!image.empty())
{
if(decimation > 1)
{
if((image.type() == CV_32FC1 || image.type()==CV_16UC1))
{
UASSERT_MSG(image.rows % decimation == 0 && image.cols % decimation == 0, "Decimation of depth images should be exact!");
out = cv::Mat(image.rows/decimation, image.cols/decimation, image.type());
if(image.type() == CV_32FC1)
{
for(int j=0; j<out.rows; ++j)
{
for(int i=0; i<out.cols; ++i)
{
out.at<float>(j, i) = image.at<float>(j*decimation, i*decimation);
}
}
}
else // CV_16UC1
{
for(int j=0; j<out.rows; ++j)
{
for(int i=0; i<out.cols; ++i)
{
out.at<unsigned short>(j, i) = image.at<unsigned short>(j*decimation, i*decimation);
}
}
}
}
else
{
cv::resize(image, out, cv::Size(), 1.0f/float(decimation), 1.0f/float(decimation), cv::INTER_AREA);
}
}
else
{
out = image;
}
}
return out;
}
}
}