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Merge pull request #2878 from DumDereDum:colored_kinfu

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Colored Kinect Fusion

* create dummy unworked classes

* dummy class works

* colored kinfu demo minor changes

* add simple rgb reader and writer

* add rgb info to tsdf

* add new raycast

* replace TsdfVoxel with RGBTsdfVoxel; integrate done

* add colors info to raycast

* just render colors

* color processing fix

* intergrate color fix

* add simple shift; minor fixes

* add cv_errors for not implemented functions

* minor fixes

* made calibration

* makeColoredFrameFromDepth works

* remove comments

* makeColoredFrameFromDepth fix

* RGBSoure remove extra code

* RGBSoure remove extra code 1

* simple fix of bug with rgb size

* minor fix

* docs fix

* docs fix

* unused parameter fix

* warnings fix

* fix tsdf errors; rgbd_perf warnings

* fix errors

* minor fix

* debug print

* debug print 2

* debug print 3

* invoker fix

* minor fix

* remove debug cout

* add simple tests

* docs fix

* warnings fix

* minor fix

* function warning fix

* add vectorized code

* minor fixes

* minor speed up

* minor fixes; renaming

* new minor fixes

* bug fix

* minor fix

* test update

* extra code removed

* bugfix; warning fix

* simple interpolation

* minor fix

* color work minor fix

* vectorized interpolation

* minor fix
This commit is contained in:
DumDereDum
2021-04-07 23:49:57 +03:00
committed by GitHub
parent dc3cd0e3c0
commit da6a95e0db
22 changed files with 3441 additions and 38 deletions
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2
modules/rgbd/perf/perf_tsdf.cpp
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@@ -323,6 +323,7 @@ PERF_TEST(Perf_TSDF, integrate)
startTimer();
settings.volume->integrate(depth, settings._params->depthFactor, pose, settings._params->intr);
stopTimer();
depth.release();
}
SANITY_CHECK_NOTHING();
}
@@ -358,6 +359,7 @@ PERF_TEST(Perf_HashTSDF, integrate)
startTimer();
settings.volume->integrate(depth, settings._params->depthFactor, pose, settings._params->intr);
stopTimer();
depth.release();
}
SANITY_CHECK_NOTHING();
}