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CameraOpenni2: added ir/depth shift parameter

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This commit is contained in:
matlabbe
2017-10-25 15:11:26 +02:00
parent de5f3657ab
commit d4982a8f24
4 changed files with 170 additions and 170 deletions
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18
corelib/src/CameraRGBD.cpp
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@@ -396,7 +396,9 @@ CameraOpenNI2::CameraOpenNI2(
_depthFx(0.0f),
_depthFy(0.0f),
_deviceId(deviceId),
_openNI2StampsAndIDsUsed(false)
_openNI2StampsAndIDsUsed(false),
_depthHShift(0),
_depthVShift(0)
#endif
{
}
@@ -496,6 +498,14 @@ void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used)
#endif
}
void CameraOpenNI2::setIRDepthShift(int horizontal, int vertical)
{
UASSERT(horizontal >= 0);
UASSERT(vertical >= 0);
_depthHShift = horizontal;
_depthVShift = vertical;
}
bool CameraOpenNI2::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_OPENNI2
@@ -848,6 +858,12 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
if(_stereoModel.left().isValidForRectification() && !_stereoModel.stereoTransform().isNull())
{
if (_depthHShift > 0 || _depthVShift > 0)
{
cv::Mat out = cv::Mat::zeros(depth.size(), depth.type());
depth(cv::Rect(_depthHShift, _depthVShift, depth.cols - _depthHShift, depth.rows - _depthVShift)).copyTo(out(cv::Rect(0, 0, depth.cols - _depthHShift, depth.rows - _depthVShift)));
depth = out;
}
depth = _stereoModel.left().rectifyImage(depth, 0);
depth = util2d::registerDepth(depth, _stereoModel.left().K(), rgb.size(), _stereoModel.right().K(), _stereoModel.stereoTransform());
}