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Fixed warning cloudFromDepth not using CameraModel interface

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This commit is contained in:
matlabbe
2016-07-08 15:07:53 -04:00
parent 7a896f6e7b
commit e4805591cd
2 changed files with 14 additions and 8 deletions
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src/nodelets/point_cloud_xyz.cpp
+7 -4
View File
@@ -214,12 +214,15 @@ private:
model.fromCameraInfo(*cameraInfo); model.fromCameraInfo(*cameraInfo);
pcl::PointCloud<pcl::PointXYZ>::Ptr pclCloud; pcl::PointCloud<pcl::PointXYZ>::Ptr pclCloud;
pclCloud = rtabmap::util3d::cloudFromDepth( rtabmap::CameraModel m(
cv::Mat(imageDepthPtr->image, roi),
model.cx()-roiRatios_[0]*double(imageDepthPtr->image.cols),
model.cy()-roiRatios_[2]*double(imageDepthPtr->image.rows),
model.fx(), model.fx(),
model.fy(), model.fy(),
model.cx()-roiRatios_[0]*double(imageDepthPtr->image.cols),
model.cy()-roiRatios_[2]*double(imageDepthPtr->image.rows));
pclCloud = rtabmap::util3d::cloudFromDepth(
cv::Mat(imageDepthPtr->image, roi),
m,
decimation_); decimation_);
processAndPublish(pclCloud, depth->header); processAndPublish(pclCloud, depth->header);
src/nodelets/point_cloud_xyzrgb.cpp
+7 -4
View File
@@ -240,13 +240,16 @@ private:
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud;
cv::Rect roi = rtabmap::Feature2D::computeRoi(imageDepthPtr->image, roiRatios_); cv::Rect roi = rtabmap::Feature2D::computeRoi(imageDepthPtr->image, roiRatios_);
rtabmap::CameraModel m(
model.fx(),
model.fy(),
model.cx()-roiRatios_[0]*double(imageDepthPtr->image.cols),
model.cy()-roiRatios_[2]*double(imageDepthPtr->image.rows));
pclCloud = rtabmap::util3d::cloudFromDepthRGB( pclCloud = rtabmap::util3d::cloudFromDepthRGB(
cv::Mat(imagePtr->image, roi), cv::Mat(imagePtr->image, roi),
cv::Mat(imageDepthPtr->image, roi), cv::Mat(imageDepthPtr->image, roi),
model.cx()-roiRatios_[0]*double(imageDepthPtr->image.cols), m,
model.cy()-roiRatios_[2]*double(imageDepthPtr->image.rows),
model.fx(),
model.fy(),
decimation_); decimation_);