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Export Added RoiRatios parameter to texturing (#171)

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matlabbe
2017-04-20 11:51:23 -04:00
parent c068c3c33a
commit a274f3cf01
10 changed files with 279 additions and 198 deletions
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8
corelib/src/util3d.cpp
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@@ -992,10 +992,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
cv::Mat depth(sensorData.depthRaw(), cv::Rect(subDepthWidth*i, 0, subDepthWidth, sensorData.depthRaw().rows));
CameraModel model = sensorData.cameraModels()[i];
if( roiRatios.size() == 4 &&
(roiRatios[0] > 0.0f ||
roiRatios[1] > 0.0f ||
roiRatios[2] > 0.0f ||
roiRatios[3] > 0.0f))
((roiRatios[0] > 0.0f && roiRatios[0] <= 1.0f) ||
(roiRatios[1] > 0.0f && roiRatios[1] <= 1.0f) ||
(roiRatios[2] > 0.0f && roiRatios[2] <= 1.0f) ||
(roiRatios[3] > 0.0f && roiRatios[3] <= 1.0f)))
{
cv::Rect roiDepth = util2d::computeRoi(depth, roiRatios);
cv::Rect roiRgb = util2d::computeRoi(rgb, roiRatios);