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Added Kinect v2 calibration and registration

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matlabbe
2015-04-10 17:36:13 -04:00
parent 8ab867b802
commit 0e21be7f67
12 changed files with 561 additions and 73 deletions
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corelib/src/Odometry.cpp
+8 -6
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@@ -225,6 +225,7 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
OdometryBOW::~OdometryBOW()
{
delete _memory;
UDEBUG("");
}
@@ -1146,8 +1147,8 @@ Transform OdometryOpticalFlow::computeTransformRGBD(
// new 3D points, used to compute variance
image3DPoints[oi] = pcl::PointXYZ(bad_point, bad_point, bad_point);
if(uIsInBounds(newCorners[i].x, 0.0f, float(data.depth().cols-1)) &&
uIsInBounds(newCorners[i].y, 0.0f, float(data.depth().rows-1)))
if(uIsInBounds(newCorners[i].x, 0.0f, float(data.depth().cols)) &&
uIsInBounds(newCorners[i].y, 0.0f, float(data.depth().rows)))
{
pcl::PointXYZ pt = util3d::projectDepthTo3D(data.depth(), newCorners[i].x, newCorners[i].y,
data.cx(), data.cy(), data.fx(), data.fy(), true);
@@ -1283,8 +1284,8 @@ Transform OdometryOpticalFlow::computeTransformRGBD(
for(unsigned int i=0; i<status.size(); ++i)
{
if(status[i] && pcl::isFinite(refCorners3D_->at(i)) &&
uIsInBounds(newCorners[i].x, 0.0f, float(data.depth().cols-1)) &&
uIsInBounds(newCorners[i].y, 0.0f, float(data.depth().rows-1)))
uIsInBounds(newCorners[i].x, 0.0f, float(data.depth().cols)) &&
uIsInBounds(newCorners[i].y, 0.0f, float(data.depth().rows)))
{
pcl::PointXYZ pt = util3d::projectDepthTo3D(data.depth(), newCorners[i].x, newCorners[i].y,
data.cx(), data.cy(), data.fx(), data.fy(), true);
@@ -1405,8 +1406,8 @@ Transform OdometryOpticalFlow::computeTransformRGBD(
int oi=0;
for(unsigned int i=0; i<newCorners.size(); ++i)
{
if(uIsInBounds(newCorners[i].x, 0.0f, float(data.depth().cols)-1.0f) &&
uIsInBounds(newCorners[i].y, 0.0f, float(data.depth().rows)-1.0f))
if(uIsInBounds(newCorners[i].x, 0.0f, float(data.depth().cols)) &&
uIsInBounds(newCorners[i].y, 0.0f, float(data.depth().rows)))
{
pcl::PointXYZ pt = util3d::projectDepthTo3D(data.depth(), newCorners[i].x, newCorners[i].y,
data.cx(), data.cy(), data.fx(), data.fy(), true);
@@ -1636,6 +1637,7 @@ OdometryThread::~OdometryThread()
{
delete _odometry;
}
UDEBUG("");
}
void OdometryThread::handleEvent(UEvent * event)