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Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size)

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This commit is contained in:
matlabbe
2016-07-08 12:47:23 -04:00
parent c8cd2545d3
commit 4cd8705710
8 changed files with 239 additions and 178 deletions
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19
corelib/include/rtabmap/core/util3d.h
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@@ -74,16 +74,23 @@ pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(
bool smoothing,
float maxZError = 0.02f);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
const cv::Mat & imageDepth,
float cx, float cy,
float fx, float fy,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0), "Use cloudFromDepth with CameraModel interface.");
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
const cv::Mat & imageDepth,
const CameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
const cv::Mat & imageRgb,
const cv::Mat & imageDepth,
float cx, float cy,
@@ -91,6 +98,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0), "Use cloudFromDepthRGB with CameraModel interface.");
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
const cv::Mat & imageRgb,
const cv::Mat & imageDepth,
const CameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(

12
corelib/include/rtabmap/core/util3d_registration.h
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@@ -92,18 +92,6 @@ Transform RTABMAP_EXP icpPointToPlane(
float epsilon = 0.0f,
bool icp2D = false);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP getICPReadyCloud(
const cv::Mat & depth,
float fx,
float fy,
float cx,
float cy,
int decimation,
double maxDepth,
float voxel,
int samples,
const Transform & transform = Transform::getIdentity());
} // namespace util3d
} // namespace rtabmap