i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 17:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Stereo: Fixed min/max depth filtering

Browse Source
This commit is contained in:
matlabbe
2016-03-13 16:58:36 -04:00
parent be559c181a
commit 04df6ba41c
8 changed files with 202 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Stereo.cpp
+14
View File
@@ -128,6 +128,8 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end");
UASSERT(leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size());
int countFlowRejected = 0;
int countDisparityRejected = 0;
for(unsigned int i=0; i<status.size(); ++i)
{
if(status[i]!=0)
@@ -136,9 +138,21 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
if(disparity < float(this->minDisparity()) || disparity > float(this->maxDisparity()))
{
status[i] = 0;
++countDisparityRejected;
}
}
else
{
++countFlowRejected;
}
}
UDEBUG("total=%d countFlowRejected=%d countDisparityRejected=%d", (int)status.size(), countFlowRejected, countDisparityRejected);
if(countFlowRejected + countDisparityRejected > (int)status.size()/2)
{
UWARN("A large number (%d/%d) of stereo correspondences are rejected! Optical flow may have failed, images are not calibrated or the background is too far (no disparity between the images).", countFlowRejected+countDisparityRejected, (int)status.size());
}
return rightCorners;
}