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Added Depth information to ImageView's keypoint items

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Mathieu Labbe
2015-05-05 11:39:30 -04:00
parent 0b5d6c84b1
commit b2bfa91153
10 changed files with 76 additions and 36 deletions
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6
corelib/include/rtabmap/core/util3d.h
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@@ -121,6 +121,12 @@ std::multimap<int, cv::KeyPoint> RTABMAP_EXP aggregate(
const std::list<int> & wordIds,
const std::vector<cv::KeyPoint> & keypoints);
float RTABMAP_EXP getDepth(
const cv::Mat & depthImage,
float x, float y,
bool smoothing,
float maxZError = 0.02f);
pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(
const cv::Mat & depthImage,
float x, float y,