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Depth16 set invalid for values = 65535

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matlabbe
2016-02-19 18:10:32 -05:00
parent 9b16d93481
commit 081be68616
2 changed files with 54 additions and 4 deletions
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corelib/src/util2d.cpp
+40 -3
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@@ -994,7 +994,19 @@ float getDepth(
int u_end = std::min(u+1, depthImage.cols-1);
int v_end = std::min(v+1, depthImage.rows-1);
float depth = isInMM?(float)depthImage.at<unsigned short>(v,u)*0.001f:depthImage.at<float>(v,u);
float depth = 0.0f;
if(isInMM)
{
if(depthImage.at<unsigned short>(v,u) > 0 &&
depthImage.at<unsigned short>(v,u) < std::numeric_limits<unsigned short>::max())
{
depth = float(depthImage.at<unsigned short>(v,u))*0.001f;
}
}
else
{
depth = depthImage.at<float>(v,u);
}
if((depth==0.0f || !uIsFinite(depth)) && estWithNeighborsIfNull)
{
@@ -1007,7 +1019,19 @@ float getDepth(
{
if((uu == u && vv!=v) || (uu != u && vv==v))
{
float d = isInMM?(float)depthImage.at<unsigned short>(vv,uu)*0.001f:depthImage.at<float>(vv,uu);
float d = 0.0f;
if(isInMM)
{
if(depthImage.at<unsigned short>(vv,uu) > 0 &&
depthImage.at<unsigned short>(vv,uu) < std::numeric_limits<unsigned short>::max())
{
depth = float(depthImage.at<unsigned short>(vv,uu))*0.001f;
}
}
else
{
d = depthImage.at<float>(vv,uu);
}
if(d!=0.0f && uIsFinite(d))
{
if(tmp == 0.0f)
@@ -1042,7 +1066,20 @@ float getDepth(
{
if(!(uu == u && vv == v))
{
float d = isInMM?(float)depthImage.at<unsigned short>(vv,uu)*0.001f:depthImage.at<float>(vv,uu);
float d = 0.0f;
if(isInMM)
{
if(depthImage.at<unsigned short>(vv,uu) > 0 &&
depthImage.at<unsigned short>(vv,uu) < std::numeric_limits<unsigned short>::max())
{
depth = float(depthImage.at<unsigned short>(vv,uu))*0.001f;
}
}
else
{
d = depthImage.at<float>(vv,uu);
}
// ignore if not valid or depth difference is too high
if(d != 0.0f && uIsFinite(d) && fabs(d - depth) < maxZError)
{