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util3d: find maximum decimation if the one set is not compatible (instead of returning an empty cloud)

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matlabbe
2016-11-18 16:19:41 -05:00
parent f0d36e71a1
commit ceb5c38ca3
1 changed files with 30 additions and 16 deletions
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46
corelib/src/util3d.cpp
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@@ -428,28 +428,42 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
UASSERT(!imageDepthIn.empty() && (imageDepthIn.type() == CV_16UC1 || imageDepthIn.type() == CV_32FC1));
if(decimation < 0)
{
if(imageRgb.rows % decimation != 0)
if(imageRgb.rows % decimation != 0 || imageRgb.cols % decimation != 0)
{
UERROR("Decimation is not valid for current image size (imageRgb.rows=%d decimation=%d). The cloud is not created.", imageRgb.rows, decimation);
return cloud;
}
if(imageRgb.cols % decimation != 0)
{
UERROR("Decimation is not valid for current image size (imageRgb.cols=%d decimation=%d). The cloud is not created.", imageRgb.cols, decimation);
return cloud;
int oldDecimation = decimation;
while(decimation <= -1)
{
if(imageRgb.rows % decimation == 0 && imageRgb.cols % decimation == 0)
{
break;
}
++decimation;
}
if(imageRgb.rows % oldDecimation != 0 || imageRgb.cols % oldDecimation != 0)
{
UWARN("Decimation (%d) is not valid for current image size (rgb=%dx%d). Highest compatible decimation used=%d.", oldDecimation, imageRgb.cols, imageRgb.rows, decimation);
}
}
}
else
{
if(imageDepthIn.rows % decimation != 0)
if(imageDepthIn.rows % decimation != 0 || imageDepthIn.cols % decimation != 0)
{
UERROR("Decimation is not valid for current image size (imageDepth.rows=%d decimation=%d). The cloud is not created.", imageDepthIn.rows, decimation);
return cloud;
}
if(imageDepthIn.cols % decimation != 0)
{
UERROR("Decimation is not valid for current image size (imageDepth.cols=%d decimation=%d). The cloud is not created.", imageDepthIn.cols, decimation);
return cloud;
int oldDecimation = decimation;
while(decimation >= 1)
{
if(imageDepthIn.rows % decimation == 0 && imageDepthIn.cols % decimation == 0)
{
break;
}
--decimation;
}
if(imageDepthIn.rows % oldDecimation != 0 || imageDepthIn.cols % oldDecimation != 0)
{
UWARN("Decimation (%d) is not valid for current image size (depth=%dx%d). Highest compatible decimation used=%d.", oldDecimation, imageDepthIn.cols, imageDepthIn.rows, decimation);
}
}
}