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Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

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matlabbe
2015-11-22 18:08:32 -05:00
parent 1e5bcfded8
commit ae9f21acd7
46 changed files with 4934 additions and 4547 deletions
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corelib/src/Features2d.cpp
+6 -2
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@@ -60,18 +60,22 @@ namespace rtabmap {
void Feature2D::filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & depth,
float minDepth,
float maxDepth)
{
cv::Mat descriptors;
filterKeypointsByDepth(keypoints, descriptors, depth, maxDepth);
filterKeypointsByDepth(keypoints, descriptors, depth, minDepth, maxDepth);
}
void Feature2D::filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors,
const cv::Mat & depth,
float minDepth,
float maxDepth)
{
UASSERT(minDepth >= 0.0f);
UASSERT(maxDepth <= 0.0f || maxDepth > minDepth);
if(!depth.empty() && (descriptors.empty() || descriptors.rows == (int)keypoints.size()))
{
std::vector<cv::KeyPoint> output(keypoints.size());
@@ -85,7 +89,7 @@ void Feature2D::filterKeypointsByDepth(
if(u >=0 && u<depth.cols && v >=0 && v<depth.rows)
{
float d = isInMM?(float)depth.at<uint16_t>(v,u)*0.001f:depth.at<float>(v,u);
if(uIsFinite(d) && d>0.0f && (maxDepth <= 0.0f || d < maxDepth))
if(uIsFinite(d) && d>minDepth && (maxDepth <= 0.0f || d < maxDepth))
{
output[oi++] = keypoints[i];
indexes[i] = 1;