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Ignoring black pixels when creating clouds (recfification artifacts). Slightly improved depth retification speed.

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matlabbe
2016-09-13 12:10:14 -04:00
parent 44caa12fa5
commit e5977d6157
3 changed files with 22 additions and 11 deletions
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corelib/src/CameraRGBD.cpp
+3 -1
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@@ -1435,7 +1435,9 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
//rectify depth
cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
cv::flip(depth, depth, 1);
depth = stereoModel_.left().rectifyDepth(depth);
//depth = stereoModel_.left().rectifyImage(depth, 0); // ~0.5/4 ms but is more noisy
depth = stereoModel_.left().rectifyDepth(depth); // ~16/25 ms
bool registered = true;
if(registered)