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Added rtabmap-kitti_dataset tool

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matlabbe
2017-04-24 12:17:18 -04:00
parent a0a7237c01
commit 1b71a96a3d
17 changed files with 900 additions and 202 deletions
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18
corelib/src/util3d.cpp
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@@ -759,7 +759,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
const cv::Mat & imageLeft,
const cv::Mat & imageRight,
const StereoCameraModel & model,
int decimation,
float decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices,
@@ -770,20 +770,22 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
UASSERT(imageLeft.channels() == 3 || imageLeft.channels() == 1);
UASSERT(imageLeft.rows == imageRight.rows &&
imageLeft.cols == imageRight.cols);
UASSERT(decimation >= 1);
UASSERT(decimation >= 1.0f);
cv::Mat leftColor = imageLeft;
cv::Mat rightMono = imageRight;
StereoCameraModel modelDecimation = model;
if(leftColor.rows % decimation != 0 ||
leftColor.cols % decimation != 0)
if(decimation>1.0f)
{
leftColor = util2d::decimate(leftColor, decimation);
rightMono = util2d::decimate(rightMono, decimation);
cv::Mat resized;
cv::resize(leftColor, resized, cv::Size(), 1.0f/decimation, 1.0f/decimation, cv::INTER_AREA);
leftColor = resized;
resized = cv::Mat();
cv::resize(rightMono, resized, cv::Size(), 1.0f/decimation, 1.0f/decimation, cv::INTER_AREA);
rightMono = resized;
modelDecimation.scale(1/float(decimation));
decimation = 1;
}
cv::Mat leftMono;
@@ -800,7 +802,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
leftColor,
util2d::disparityFromStereoImages(leftMono, rightMono, parameters),
modelDecimation,
decimation,
1,
maxDepth,
minDepth,
validIndices);