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0.11.2: First Google Tango release

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matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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9
corelib/include/rtabmap/core/util2d.h
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@@ -105,9 +105,11 @@ float RTABMAP_EXP getDepth(
const cv::Mat & depthImage,
float x, float y,
bool smoothing,
float maxZError = 0.02f);
float maxZError = 0.02f,
bool estWithNeighborsIfNull = false);
cv::Mat RTABMAP_EXP decimate(const cv::Mat & image, int d);
cv::Mat RTABMAP_EXP interpolate(const cv::Mat & image, int factor, float depthErrorRatio = 0.02f);
// Registration Depth to RGB (return registered depth image)
cv::Mat RTABMAP_EXP registerDepth(
@@ -116,6 +118,11 @@ cv::Mat RTABMAP_EXP registerDepth(
const cv::Mat & colorK,
const rtabmap::Transform & transform);
cv::Mat RTABMAP_EXP fillDepthHoles(
const cv::Mat & depth,
int maximumHoleSize = 1,
float errorRatio = 0.02f);
void RTABMAP_EXP fillRegisteredDepthHoles(
cv::Mat & depthRegistered,
bool vertical,