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Added GFTT detector which can be used for Odometry

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Modified how depth is computed: Now the mean of neighbors is used as the value instead of interpolation... averaging the Kinect noise.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1662 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-20 23:05:06 +00:00
parent b0af55699d
commit f251b64310
11 changed files with 546 additions and 113 deletions
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corelib/src/Memory.cpp
+8
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@@ -405,6 +405,14 @@ void Memory::parseParameters(const ParametersMap & parameters)
_feature2D = new ORB(parameters);
_featureType = Feature2D::kFeatureOrb;
break;
case Feature2D::kFeatureGfttFreak:
_feature2D = new GFTT_FREAK(parameters);
_featureType = Feature2D::kFeatureGfttFreak;
break;
case Feature2D::kFeatureGfttBrief:
_feature2D = new GFTT_BRIEF(parameters);
_featureType = Feature2D::kFeatureGfttBrief;
break;
case Feature2D::kFeatureSurf:
default:
_feature2D = new SURF(parameters);