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Added util3d::projectCloudToCamera() method (creating a registered depth image from the laser scan), used for "Generate depth from scan" option of CameraImages

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matlabbe
2016-01-11 17:21:06 -05:00
parent 94adc6fa1b
commit 42e1590abe
12 changed files with 696 additions and 296 deletions
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4
corelib/include/rtabmap/core/util2d.h
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@@ -109,7 +109,7 @@ float RTABMAP_EXP getDepth(
cv::Mat RTABMAP_EXP decimate(const cv::Mat & image, int d);
// Registration Depth to RGB
// Registration Depth to RGB (return registered depth image)
cv::Mat RTABMAP_EXP registerDepth(
const cv::Mat & depth,
const cv::Mat & depthK,
@@ -117,7 +117,7 @@ cv::Mat RTABMAP_EXP registerDepth(
const rtabmap::Transform & transform);
void RTABMAP_EXP fillRegisteredDepthHoles(
cv::Mat & depth,
cv::Mat & depthRegistered,
bool vertical,
bool horizontal,
bool fillDoubleHoles = false);