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Merge branch 'master' of https://github.com/introlab/rtabmap into devel

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matlabbe
2015-06-18 23:04:14 -04:00
parent 82943e85e8 6fe1e42181
commit b0a20abd66
17 changed files with 450 additions and 253 deletions
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corelib/src/util3d_features.cpp
-26
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@@ -521,32 +521,6 @@ std::multimap<int, cv::KeyPoint> aggregate(
return words;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr get3DFASTKpts(
const cv::Mat & image,
const cv::Mat & imageDepth,
float constant,
int fastThreshold,
bool fastNonmaxSuppression,
float maxDepth)
{
// Extract words
cv::FastFeatureDetector detector(fastThreshold, fastNonmaxSuppression);
std::vector<cv::KeyPoint> kpts;
detector.detect(image, kpts);
pcl::PointCloud<pcl::PointXYZ>::Ptr points(new pcl::PointCloud<pcl::PointXYZ>);
for(unsigned int i=0; i<kpts.size(); ++i)
{
pcl::PointXYZ pt = projectDepthTo3D(imageDepth, kpts[i].pt.x, kpts[i].pt.y, 0, 0, 1.0f/constant, 1.0f/constant, true);
if(uIsFinite(pt.z) && (maxDepth <= 0 || pt.z <= maxDepth))
{
points->push_back(pt);
}
}
UDEBUG("points %d -> %d", (int)kpts.size(), (int)points->size());
return points;
}
}
}