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CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.

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This commit is contained in:
matlabbe
2021-09-24 17:31:16 -04:00
parent bccc5b13af
commit 8c56b5b1ce
8 changed files with 176 additions and 121 deletions
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23
corelib/src/camera/CameraOpenNI2.cpp
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@@ -74,7 +74,8 @@ CameraOpenNI2::CameraOpenNI2(
_deviceId(deviceId),
_openNI2StampsAndIDsUsed(false),
_depthHShift(0),
_depthVShift(0)
_depthVShift(0),
_depthDecimation(1)
#endif
{
}
@@ -184,6 +185,14 @@ void CameraOpenNI2::setIRDepthShift(int horizontal, int vertical)
#endif
}
void CameraOpenNI2::setDepthDecimation(int decimation)
{
#ifdef RTABMAP_OPENNI2
UASSERT(decimation >= 1);
_depthDecimation = decimation;
#endif
}
bool CameraOpenNI2::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_OPENNI2
@@ -544,8 +553,18 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
if(_stereoModel.left().isValidForRectification() && !_stereoModel.stereoTransform().isNull())
{
depth = _stereoModel.left().rectifyImage(depth, 0);
depth = util2d::registerDepth(depth, _stereoModel.left().K(), rgb.size(), _stereoModel.right().K(), _stereoModel.stereoTransform());
CameraModel depthModel = _stereoModel.left().scaled(1.0 / double(_depthDecimation));
depth = util2d::decimate(depth, _depthDecimation);
depth = util2d::registerDepth(depth, depthModel.K(), rgb.size()/_depthDecimation, _stereoModel.right().scaled(1.0/double(_depthDecimation)).K(), _stereoModel.stereoTransform());
}
else if (_depthDecimation > 1)
{
depth = util2d::decimate(depth, _depthDecimation);
}
}
else if (_depthDecimation > 1)
{
depth = util2d::decimate(depth, _depthDecimation);
}
}
else // IR