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Added util3d::projectCloudToCamera() with PCLPointcloud2 interface, update util2d::fillDeptHoles() to support CV_32FC1

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matlabbe
2017-02-23 00:15:43 -05:00
parent a1c036a7e2
commit 8de6cb1ca0
4 changed files with 282 additions and 53 deletions
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13
corelib/include/rtabmap/core/util3d.h
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@@ -216,18 +216,25 @@ cv::Point3f RTABMAP_EXP projectDisparityTo3D(
const cv::Mat & disparity,
const StereoCameraModel & model);
// Register point cloud to camera (return registered depth image)
// Register point cloud to camera (return registered depth image 32FC1)
cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize,
const cv::Mat & cameraMatrixK,
const cv::Mat & laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
// Register point cloud to camera (return registered depth image)
// Register point cloud to camera (return registered depth image 32FC1)
cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize,
const cv::Mat & cameraMatrixK,
const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
// Register point cloud to camera (return registered depth image 32FC1)
cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize,
const cv::Mat & cameraMatrixK,
const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan, // assuming points are already in /base_link coordinate
const pcl::PCLPointCloud2::Ptr laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
// Direction vertical (>=0), horizontal (<0)