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iOS: Addressing #998 #1001

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matlabbe
2023-03-25 14:11:42 -07:00
parent c4e94bcdc3
commit 11e5437eba
8 changed files with 66 additions and 92 deletions
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32
app/android/jni/CameraMobile.cpp
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@@ -432,23 +432,25 @@ LaserScan CameraMobile::scanFromPointCloudData(
//get color from rgb image
cv::Point3f org= pt;
pt = util3d::transformPoint(pt, opticalRotationInv);
int u,v;
model.reproject(pt.x, pt.y, pt.z, u, v);
unsigned char r=255,g=255,b=255;
if(model.inFrame(u, v))
if(pt.z > 0)
{
b=rgb.at<cv::Vec3b>(v,u).val[0];
g=rgb.at<cv::Vec3b>(v,u).val[1];
r=rgb.at<cv::Vec3b>(v,u).val[2];
if(kpts)
kpts->push_back(cv::KeyPoint(u,v,kptsSize));
if(kpts3D)
kpts3D->push_back(org);
*(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
++oi;
int u,v;
model.reproject(pt.x, pt.y, pt.z, u, v);
unsigned char r=255,g=255,b=255;
if(model.inFrame(u, v))
{
b=rgb.at<cv::Vec3b>(v,u).val[0];
g=rgb.at<cv::Vec3b>(v,u).val[1];
r=rgb.at<cv::Vec3b>(v,u).val[2];
if(kpts)
kpts->push_back(cv::KeyPoint(u,v,kptsSize));
if(kpts3D)
kpts3D->push_back(org);
*(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
++oi;
}
}
//confidence
//*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);