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UCv2Qt: fixed min/max of depth to grayscale conversion for CV_32FC1 type

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matlabbe
2017-01-06 16:57:47 -05:00
parent 74ae1429a1
commit 32c051320c
1 changed files with 18 additions and 3 deletions
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21
guilib/include/rtabmap/utilite/UCv2Qt.h
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@@ -78,15 +78,30 @@ inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true)
{ {
// Assume depth image (float in meters) // Assume depth image (float in meters)
const float * data = (const float *)image.data; const float * data = (const float *)image.data;
float min=0, max=0; float min=data[0], max=data[0];
uMinMax(data, image.rows*image.cols, min, max); for(unsigned int i=1; i<image.total(); ++i)
{
if(!uIsNan(data[i]) && data[i] > 0)
{
if((uIsNan(min) && data[i] > 0) ||
(data[i] > 0 && data[i]<min))
{
min = data[i];
}
if((uIsNan(max) && data[i] > 0) ||
(data[i] > 0 && data[i]>max))
{
max = data[i];
}
}
}
qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8); qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
for(int y = 0; y < image.rows; ++y, data += image.cols) for(int y = 0; y < image.rows; ++y, data += image.cols)
{ {
for(int x = 0; x < image.cols; ++x) for(int x = 0; x < image.cols; ++x)
{ {
uchar * p = qtemp.scanLine (y) + x; uchar * p = qtemp.scanLine (y) + x;
if(data[x] < min || data[x] > max || uIsNan(data[x])) if(data[x] < min || data[x] > max || uIsNan(data[x]) || max == min)
{ {
*p = 0; *p = 0;
} }