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

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matlabbe
2026-09-30 23:58:54 -07:00
parent 4434bdcd6f 20b040a77a
commit efa5afeba7
2 changed files with 28 additions and 2 deletions
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corelib/src/util2d.cpp
+3 -2
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@@ -1029,8 +1029,9 @@ float getDepth(
}
else
{
float depthError = depthErrorRatio * tmp;
if(fabs(d - tmp/float(count)) < depthError)
float mean = tmp/float(count);
float depthError = depthErrorRatio * mean;
if(fabs(d - mean) < depthError)
{
tmp += d;
corelib/test/test_util2d.cpp
+25
View File
@@ -508,6 +508,31 @@ TEST(Util2dTest, GetDepthEstimationFromNeighbors16U) {
EXPECT_NEAR(result, 1.5f, 1e-3f);
}
TEST(Util2dTest, GetDepthEstimationFromNeighborsRejectsOutlier) {
// Neighbors are visited as (2,1), (1,2), (3,2), (2,3). The last one is
// 25% away from the mean of the first three and must be ignored.
cv::Mat depth = cv::Mat::zeros(5, 5, CV_32FC1);
depth.at<float>(2, 1) = 1.00f;
depth.at<float>(1, 2) = 1.02f;
depth.at<float>(3, 2) = 0.98f;
depth.at<float>(2, 3) = 1.25f;
float result = util2d::getDepth(depth, 2.0f, 2.0f, false, 0.1f, true);
EXPECT_NEAR(result, 1.0f, 1e-5f);
cv::Mat depth16U = util2d::cvtDepthFromFloat(depth);
result = util2d::getDepth(depth16U, 2.0f, 2.0f, false, 0.1f, true);
EXPECT_NEAR(result, 1.0f, 1e-3f);
// Same with the default ratio (0.02): the last neighbor is 5% away.
depth.at<float>(2, 1) = 1.00f;
depth.at<float>(1, 2) = 1.01f;
depth.at<float>(3, 2) = 0.99f;
depth.at<float>(2, 3) = 1.05f;
result = util2d::getDepth(depth, 2.0f, 2.0f, false, 0.02f, true);
EXPECT_NEAR(result, 1.0f, 1e-5f);
}
TEST(Util2dTest, GetDepthOutOfBounds) {
cv::Mat depth = cv::Mat::ones(5, 5, CV_32FC1);