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Source depth from scan: filling holes is now optional (though still true by default)

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matlabbe
2016-03-10 12:31:22 -05:00
parent cee9c65b06
commit 5f7dfb943c
5 changed files with 52 additions and 45 deletions
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9
corelib/src/CameraRGB.cpp
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@@ -68,7 +68,7 @@ CameraImages::CameraImages() :
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_depthFromScan(false),
_depthFromScanFillHolesVertical(true),
_depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false),
_filenamesAreTimestamps(false),
syncImageRateWithStamps_(true),
@@ -95,7 +95,7 @@ CameraImages::CameraImages(const std::string & path,
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_depthFromScan(false),
_depthFromScanFillHolesVertical(true),
_depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false),
_filenamesAreTimestamps(false),
syncImageRateWithStamps_(true),
@@ -640,7 +640,10 @@ SensorData CameraImages::captureImage()
else
{
depthFromScan = util3d::projectCloudToCamera(img.size(), _model.K(), cloud, _model.localTransform());
util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHolesVertical, _depthFromScanFillHolesFromBorder);
if(_depthFromScanFillHoles!=0)
{
util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHoles>0, _depthFromScanFillHolesFromBorder);
}
}
}
// filter the scan after registration