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Adding an option to cut incoming depth

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JRombouts
2015-07-08 12:49:15 -07:00
parent cc139c6664
commit 37a53d91c2
1 changed files with 10 additions and 7 deletions
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src/nodelets/point_cloud_xyz.cpp
+10 -7
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@@ -70,7 +70,8 @@ public:
approxSyncDisparity_(0),
exactSyncDepth_(0),
exactSyncDisparity_(0),
cut_(0)
cut_right_(0),
cut_left_(0)
{}
virtual ~PointCloudXYZ()
@@ -100,7 +101,8 @@ private:
pnh.param("decimation", decimation_, decimation_);
pnh.param("noise_filter_radius", noiseFilterRadius_, noiseFilterRadius_);
pnh.param("noise_filter_min_neighbors", noiseFilterMinNeighbors_, noiseFilterMinNeighbors_);
pnh.param("cut", cut_, cut_);
pnh.param("cut_left", cut_left_, cut_left_);
pnh.param("cut_right", cut_right_, cut_right_);
ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
if(approxSync)
@@ -153,12 +155,12 @@ private:
int rows = image.rows;
int cols = image.cols;
if (cut_>0){
cv::Mat pRoi = image(cv::Rect(0, 0, cut_, rows));
if (cut_left_>0){
cv::Mat pRoi = image(cv::Rect(0, 0, cut_left_, rows));
pRoi.setTo(cv::Scalar(0.));
}
else if (cut_<0){
cv::Mat pRoi = image(cv::Rect(cols+cut_, 0, -cut_, rows));
if (cut_right_<0){
cv::Mat pRoi = image(cv::Rect(cols-cut_right_, 0, cut_right_, rows));
pRoi.setTo(cv::Scalar(0.));
}
@@ -258,7 +260,8 @@ private:
int decimation_;
double noiseFilterRadius_;
int noiseFilterMinNeighbors_;
int cut_;
int cut_left_;
int cut_right_;
ros::Publisher cloudPub_;