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ImageView: fixed assert when depth image is smaller than rgb image if depth colormap is projected in base frame

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matlabbe
2025-09-12 10:49:08 -07:00
parent 668494948c
commit a96d574517
1 changed files with 16 additions and 6 deletions
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guilib/src/ImageView.cpp
+16 -6
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@@ -1382,6 +1382,16 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
// convert the depth values in height values // convert the depth values in height values
cv::Mat depthInBaseFrame = _imageDepthCv.clone(); cv::Mat depthInBaseFrame = _imageDepthCv.clone();
int subImageWidth = _imageDepthCv.cols / _models.size(); int subImageWidth = _imageDepthCv.cols / _models.size();
std::vector<CameraModel> models; // scale model to size of depth image if needed
for(const auto & model: _models) {
UASSERT(subImageWidth <= model.imageWidth());
if(subImageWidth < model.imageWidth()) {
models.push_back(model.scaled(float(subImageWidth)/float(model.imageWidth())));
}
else {
models.push_back(model);
}
}
if(depthInBaseFrame.type() == CV_16UC1) { if(depthInBaseFrame.type() == CV_16UC1) {
for(int v=0; v<depthInBaseFrame.rows; ++v){ for(int v=0; v<depthInBaseFrame.rows; ++v){
unsigned short * rowPtr = depthInBaseFrame.ptr<unsigned short>(v); unsigned short * rowPtr = depthInBaseFrame.ptr<unsigned short>(v);
@@ -1390,9 +1400,9 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
if(val > 0) { if(val > 0) {
cv::Point3f pt; cv::Point3f pt;
int cameraIndex = u/subImageWidth; int cameraIndex = u/subImageWidth;
UASSERT(cameraIndex>=0 && cameraIndex < (int)_models.size() && subImageWidth == _models[cameraIndex].imageWidth()); UASSERT(cameraIndex>=0 && cameraIndex < (int)models.size() && subImageWidth == models[cameraIndex].imageWidth());
_models[cameraIndex].project(u,v,float(val)/1000.0f, pt.x, pt.y, pt.z); models[cameraIndex].project(u,v,float(val)/1000.0f, pt.x, pt.y, pt.z);
pt = util3d::transformPoint(pt, _models[cameraIndex].localTransform()); pt = util3d::transformPoint(pt, models[cameraIndex].localTransform());
val = (unsigned short)(pt.z*1000.0f); val = (unsigned short)(pt.z*1000.0f);
} }
} }
@@ -1406,9 +1416,9 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
if(val > 0) { if(val > 0) {
cv::Point3f pt; cv::Point3f pt;
int cameraIndex = u/subImageWidth; int cameraIndex = u/subImageWidth;
UASSERT(cameraIndex>=0 && cameraIndex < (int)_models.size() && subImageWidth == _models[cameraIndex].imageWidth()); UASSERT(cameraIndex>=0 && cameraIndex < (int)models.size() && subImageWidth == models[cameraIndex].imageWidth());
_models[cameraIndex].project(u,v,val, pt.x, pt.y, pt.z); models[cameraIndex].project(u,v,val, pt.x, pt.y, pt.z);
pt = util3d::transformPoint(pt, _models[cameraIndex].localTransform()); pt = util3d::transformPoint(pt, models[cameraIndex].localTransform());
val = pt.z; val = pt.z;
} }
} }