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OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).

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matlabbe
2021-11-09 10:16:12 -05:00
parent 06150c697f
commit ec2aa5c952
4 changed files with 95 additions and 41 deletions
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15
corelib/src/camera/CameraOpenNI2.cpp
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@@ -178,8 +178,6 @@ void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used)
void CameraOpenNI2::setIRDepthShift(int horizontal, int vertical)
{
#ifdef RTABMAP_OPENNI2
UASSERT(horizontal >= 0);
UASSERT(vertical >= 0);
_depthHShift = horizontal;
_depthVShift = vertical;
#endif
@@ -538,10 +536,19 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
if(_type==kTypeColorDepth)
{
if (_depthHShift > 0 || _depthVShift > 0)
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(cv::Rect(
_depthHShift>0?_depthHShift:0,
_depthVShift>0?_depthVShift:0,
depth.cols - abs(_depthHShift),
depth.rows - abs(_depthVShift))).copyTo(
out(cv::Rect(
_depthHShift<0?-_depthHShift:0,
_depthVShift<0?-_depthVShift:0,
depth.cols - abs(_depthHShift),
depth.rows - abs(_depthVShift))));
depth = out;
}