void
StereoDisparity::getXyz(OdometryFrame * odom_frame)
{
int num_levels = odom_frame->getNumLevels();
for(int level_num=0; level_num < num_levels; ++level_num) {
PyramidLevel* level = odom_frame->getLevel(level_num);
int num_kp = level->getNumKeypoints();
//std::cout << level_num << " | number of keypoints: " << num_kp << "\n";
for(int kp_ind=0; kp_ind < num_kp; ++kp_ind) {
KeypointData* kpdata(level->getKeypointData(kp_ind));
int u = (int)(kpdata->rect_base_uv(0)+0.5);
int v = (int)(kpdata->rect_base_uv(1)+0.5);
kpdata->disparity = _disparity_data[(int) v*_width + (int) u];
if (kpdata->disparity == MIN_DISPARITY){ // disp ==0 if no disparity available given
kpdata->disparity = NAN;
kpdata->has_depth = false;
kpdata->xyzw = Eigen::Vector4d(NAN, NAN, NAN, NAN);
kpdata->xyz = Eigen::Vector3d(NAN, NAN, NAN);
} else {
kpdata->has_depth = true;
kpdata->xyz = getXyzValues(u, v, kpdata->disparity);
kpdata->xyzw.head<3>() = kpdata->xyz;
kpdata->xyzw.w() = 1;
}
}
}
}
void
DepthImage::getXyz(OdometryFrame * frame)
{
int num_levels = frame->getNumLevels();
for(int level_num=0; level_num < num_levels; ++level_num) {
PyramidLevel* level = frame->getLevel(level_num);
int num_kp = level->getNumKeypoints();
for(int kp_ind=0; kp_ind < num_kp; ++kp_ind) {
KeypointData* kpdata(level->getKeypointData(kp_ind));
int u = (int)(kpdata->rect_base_uv(0)+0.5);
int v = (int)(kpdata->rect_base_uv(1)+0.5);
kpdata->disparity = NAN;
float z = _depth_data[rgbToDepthIndex(u, v)];
if(isnan(z)) {
kpdata->has_depth = false;
kpdata->xyzw = Eigen::Vector4d(NAN, NAN, NAN, NAN);
kpdata->xyz = Eigen::Vector3d(NAN, NAN, NAN);
} else {
kpdata->has_depth = true;
kpdata->xyz = z * _rays->col(v * _rgb_width + u);
kpdata->xyzw.head<3>() = kpdata->xyz;
kpdata->xyzw.w() = 1;
}
}
}
}
