Comments (2)
I got it!
Here is my Code in linemod_detect.cpp in line 382:
/* Check every pixel of the image. CARE: rows cols world */
for(int i=0; i<depth_real_model_raw.cols; i++)
{
for(int j=0; j<depth_real_model_raw.rows;j++)
{
cv::Vec3f & pixel = depth_real_model_raw.at<cv::Vec3f>(j,i);
if(pixel[0]!=pixel[0] || pixel[1]!=pixel[1] || pixel[2]!=pixel[2])
std::cout<<"Pixel is not a number (NAN)"<<std::endl;
else if(pixel[2]<0.1||pixel[2]>1.0)
std::cout<<"Z-value is invalid"<<std::endl;
else
std::cout<<"This pixel contains valid data"<<std::endl;
}
}
std::cout<<"Match: "<<match.x<<" "<<match.y<<std::endl;
This x and y coordinates are inside the bounding box so you also have to translate them. Variable "match" contains the relevant informations (match.x and match.y).
There are still some problems with this solution. If the model doesn't fit the real world object perfectly some informations are lost. For me it is enough information, but if there is a better solution please let me know.
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@nlyubova , any opinion on that?
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