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0.11.2: First Google Tango release

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matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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corelib/src/Features2d.cpp
+8 -9
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_features.h"
#include "rtabmap/core/Stereo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/ULogger.h"
@@ -626,20 +627,18 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
if(_maxDepth > 0.0f || _minDepth > 0.0f)
{
UASSERT(keypoints3D.size() == keypoints.size());
bool isInMM = data.depthRaw().type() == CV_16UC1;
float bad_point = std::numeric_limits<float>::quiet_NaN ();
for(unsigned int i=0; i<keypoints.size(); ++i)
{
int u = int(keypoints[i].pt.x+0.5f);
int v = int(keypoints[i].pt.y+0.5f);
float d = util2d::getDepth(
data.depthRaw(),
keypoints[i].pt.x/float((data.imageRaw().cols/data.depthRaw().cols)),
keypoints[i].pt.y/float((data.imageRaw().rows/data.depthRaw().rows)),
false);
bool reject = true;
if(u >=0 && u<data.depthRaw().cols && v >=0 && v<data.depthRaw().rows)
if(uIsFinite(d) && d>_minDepth && (_maxDepth <= 0.0f || d < _maxDepth))
{
float d = isInMM?(float)data.depthRaw().at<uint16_t>(v,u)*0.001f:data.depthRaw().at<float>(v,u);
if(uIsFinite(d) && d>_minDepth && (_maxDepth <= 0.0f || d < _maxDepth))
{
reject = false;
}
reject = false;
}
if(reject)
{