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Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)

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matlabbe
2015-06-15 14:44:44 -04:00
parent b8dccc2228
commit dfbf6e721e
14 changed files with 785 additions and 671 deletions
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corelib/src/util2d.cpp
+1 -1
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@@ -162,7 +162,7 @@ cv::Mat disparityFromStereoCorrespondences(
{
float d = leftCorners[i].x - rightCorners[i].x;
float slope = fabs((leftCorners[i].y - rightCorners[i].y) / (leftCorners[i].x - rightCorners[i].x));
if(d > 0.0f && slope < maxSlope)
if(d > 0.0f && (maxSlope <= 0 || fabs(leftCorners[i].y-rightCorners[i].y) <= 1.0f || slope <= maxSlope))
{
disparity.at<float>(int(leftCorners[i].y+0.5f), int(leftCorners[i].x+0.5f)) = d;
}