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

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This commit is contained in:
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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25
corelib/src/util3d.cpp
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@@ -443,17 +443,26 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
pt.r = v;
}
pcl::PointXYZ ptXYZ = projectDepthTo3D(imageDepth, w, h, depthCx, depthCy, depthFx, depthFy, false);
if(pcl::isFinite(ptXYZ) && ptXYZ.z>=minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
// Ignore pure black pixels, as they are generarly rectification artifacts on the contour. It is okay to
// assume this as normally depth would not be computed on pure black surfaces anyway.
if (pt.b > 0 && pt.g > 0 && pt.r > 0)
{
pt.x = ptXYZ.x;
pt.y = ptXYZ.y;
pt.z = ptXYZ.z;
if(validIndices)
pcl::PointXYZ ptXYZ = projectDepthTo3D(imageDepth, w, h, depthCx, depthCy, depthFx, depthFy, false);
if (pcl::isFinite(ptXYZ) && ptXYZ.z >= minDepth && (maxDepth <= 0.0f || ptXYZ.z <= maxDepth))
{
validIndices->at(oi) = (h/decimation)*cloud->width + (w/decimation);
pt.x = ptXYZ.x;
pt.y = ptXYZ.y;
pt.z = ptXYZ.z;
if (validIndices)
{
validIndices->at(oi) = (h / decimation)*cloud->width + (w / decimation);
}
++oi;
}
else
{
pt.x = pt.y = pt.z = std::numeric_limits<float>::quiet_NaN();
}
++oi;
}
else
{