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Camera projection: Added max depth error option to colorize more points

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matlabbe
2025-05-10 18:20:29 -07:00
parent 6b5b1c9617
commit a3d4028faa
5 changed files with 250 additions and 176 deletions
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2
corelib/include/rtabmap/core/util3d.h
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@@ -390,6 +390,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT
const std::map<int, std::vector<CameraModel> > & cameraModels,
float maxDistance = 0.0f,
float maxAngle = 0.0f,
float maxDepthError = 0.0f,
const std::vector<float> & roiRatios = std::vector<float>(),
const cv::Mat & projMask = cv::Mat(),
bool distanceToCamPolicy = false,
@@ -404,6 +405,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT
const std::map<int, std::vector<CameraModel> > & cameraModels,
float maxDistance = 0.0f,
float maxAngle = 0.0f,
float maxDepthError = 0.0f,
const std::vector<float> & roiRatios = std::vector<float>(),
const cv::Mat & projMask = cv::Mat(),
bool distanceToCamPolicy = false,