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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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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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18
corelib/src/clams/discrete_depth_distortion_model.cpp
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@@ -275,19 +275,21 @@ namespace clams
void DiscreteDepthDistortionModel::undistort(cv::Mat & depth) const
{
UASSERT(width_ == depth.cols);
UASSERT(height_ ==depth.rows);
UASSERT(width_ >= depth.cols && width_ % depth.cols == 0);
UASSERT(height_ >=depth.rows && height_ % depth.rows == 0);
UASSERT(height_ >= depth.rows && height_ % depth.rows == 0);
UASSERT(depth.type() == CV_16UC1 || depth.type() == CV_32FC1);
int factor = width_ / depth.cols;
if(depth.type() == CV_32FC1)
{
#pragma omp parallel for
for(int v = 0; v < height_; ++v) {
for(int u = 0; u < width_; ++u) {
for(int v = 0; v < depth.rows; ++v) {
for(int u = 0; u < depth.cols; ++u) {
float & z = depth.at<float>(v, u);
if(uIsNan(z) || z == 0.0f)
continue;
double zf = z;
frustum(v, u).interpolatedUndistort(&zf);
frustum(v * factor, u * factor).interpolatedUndistort(&zf);
z = zf;
}
}
@@ -295,13 +297,13 @@ namespace clams
else
{
#pragma omp parallel for
for(int v = 0; v < height_; ++v) {
for(int u = 0; u < width_; ++u) {
for(int v = 0; v < depth.rows; ++v) {
for(int u = 0; u < depth.cols; ++u) {
unsigned short & z = depth.at<unsigned short>(v, u);
if(uIsNan(z) || z == 0)
continue;
double zf = z * 0.001;
frustum(v, u).interpolatedUndistort(&zf);
frustum(v * factor, u * factor).interpolatedUndistort(&zf);
z = zf*1000;
}
}