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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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10
tools/CameraRGBD/main.cpp
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@@ -342,10 +342,7 @@ int main(int argc, char * argv[])
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(
rgb, depth,
data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy());
data.cameraModels()[0]);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
if(viewer)
viewer->showCloud(cloud, "cloud");
@@ -356,10 +353,7 @@ int main(int argc, char * argv[])
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(
depth,
data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy());
data.cameraModels()[0]);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer->showCloud(cloud, "cloud");
}