i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Features2d.cpp
+11 -5
View File
@@ -41,28 +41,34 @@ namespace rtabmap {
void filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & depth,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
float maxDepth)
{
cv::Mat descriptors;
filterKeypointsByDepth(keypoints, descriptors, depth, depthConstant, maxDepth);
filterKeypointsByDepth(keypoints, descriptors, depth, fx, fy, cx, cy, maxDepth);
}
void filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors,
const cv::Mat & depth,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
float maxDepth)
{
if(!depth.empty() && depthConstant > 0.0f && maxDepth > 0.0f && (descriptors.empty() || descriptors.rows == (int)keypoints.size()))
if(!depth.empty() && fx > 0.0f && fy > 0.0f && maxDepth > 0.0f && (descriptors.empty() || descriptors.rows == (int)keypoints.size()))
{
std::vector<cv::KeyPoint> output(keypoints.size());
std::vector<int> indexes(keypoints.size(), 0);
int oi=0;
for(unsigned int i=0; i<keypoints.size(); ++i)
{
pcl::PointXYZ pt = util3d::getDepth(depth, keypoints[i].pt.x, keypoints[i].pt.y, depthConstant);
pcl::PointXYZ pt = util3d::getDepth(depth, keypoints[i].pt.x, keypoints[i].pt.y, cx, cy, fx, fy);
if(uIsFinite(pt.z) && pt.z < maxDepth)
{
output[oi++] = keypoints[i];