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Adding support for compressed input data and right color image. (#1463)

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This commit is contained in:
matlabbe
2025-03-08 16:40:04 -08:00
committed by GitHub
parent d88353dc1b
commit a1b602dbe0
26 changed files with 359 additions and 123 deletions
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corelib/src/util3d.cpp
+24 -4
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@@ -822,14 +822,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
const ParametersMap & parameters)
{
UASSERT(!imageLeft.empty() && !imageRight.empty());
UASSERT(imageRight.type() == CV_8UC1);
UASSERT(imageRight.type() == CV_8UC1 || imageRight.type() == CV_8UC3);
UASSERT(imageLeft.channels() == 3 || imageLeft.channels() == 1);
UASSERT(imageLeft.rows == imageRight.rows &&
imageLeft.cols == imageRight.cols);
UASSERT(decimation >= 1.0f);
cv::Mat leftColor = imageLeft;
cv::Mat rightMono = imageRight;
cv::Mat rightColor = imageRight;
cv::Mat leftMono;
if(leftColor.channels() == 3)
@@ -841,6 +841,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
leftMono = leftColor;
}
cv::Mat rightMono;
if(rightColor.channels() == 3)
{
cv::cvtColor(rightColor, rightMono, CV_BGR2GRAY);
}
else
{
rightMono = rightColor;
}
return cloudFromDisparityRGB(
leftColor,
util2d::disparityFromStereoImages(leftMono, rightMono, parameters),
@@ -954,7 +964,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && !sensorData.stereoCameraModels().empty())
{
//stereo
UASSERT(sensorData.rightRaw().type() == CV_8UC1);
UASSERT(sensorData.rightRaw().type() == CV_8UC1 || sensorData.rightRaw().type() == CV_8UC3);
cv::Mat leftMono;
if(sensorData.imageRaw().channels() == 3)
@@ -966,6 +976,16 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
leftMono = sensorData.imageRaw();
}
cv::Mat rightMono;
if(sensorData.rightRaw().channels() == 3)
{
cv::cvtColor(sensorData.rightRaw(), rightMono, CV_BGR2GRAY);
}
else
{
rightMono = sensorData.rightRaw();
}
UASSERT(int((sensorData.imageRaw().cols/sensorData.stereoCameraModels().size())*sensorData.stereoCameraModels().size()) == sensorData.imageRaw().cols);
UASSERT(int((sensorData.rightRaw().cols/sensorData.stereoCameraModels().size())*sensorData.stereoCameraModels().size()) == sensorData.rightRaw().cols);
int subImageWidth = sensorData.rightRaw().cols/sensorData.stereoCameraModels().size();
@@ -979,7 +999,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloudsFromSensorData(
if(sensorData.stereoCameraModels()[i].isValidForProjection())
{
cv::Mat left(leftMono, cv::Rect(subImageWidth*i, 0, subImageWidth, leftMono.rows));
cv::Mat right(sensorData.rightRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, sensorData.rightRaw().rows));
cv::Mat right(rightMono, cv::Rect(subImageWidth*i, 0, subImageWidth, rightMono.rows));
StereoCameraModel model = sensorData.stereoCameraModels()[i];
if( roiRatios.size() == 4 &&
((roiRatios[0] > 0.0f && roiRatios[0] <= 1.0f) ||