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Merge pull request #2751 from akashsharma02:master

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Add depth_factor argument in rescaleDepth and typedef dynafu::Params for backwards compatibility

* Add depth factor argument (default = 1000.0) to rescaleDepth to
potentially support TUM type datasets

* typedef dynafu::Params as kinfu::Params for compatibility
This commit is contained in:
Akash Sharma
2020-11-25 04:28:19 -05:00
committed by GitHub
parent 478cc124f5
commit f63965759d
3 changed files with 12 additions and 5 deletions
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5
modules/rgbd/include/opencv2/rgbd/depth.hpp
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@@ -312,16 +312,17 @@ namespace rgbd
depthTo3d(InputArray depth, InputArray K, OutputArray points3d, InputArray mask = noArray()); depthTo3d(InputArray depth, InputArray K, OutputArray points3d, InputArray mask = noArray());
/** If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided /** If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided
* by 1000 to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN() * by depth_factor to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN()
* Otherwise, the image is simply converted to floats * Otherwise, the image is simply converted to floats
* @param in the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters * @param in the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters
* (as done with the Microsoft Kinect), it is assumed in meters) * (as done with the Microsoft Kinect), it is assumed in meters)
* @param depth the desired output depth (floats or double) * @param depth the desired output depth (floats or double)
* @param out The rescaled float depth image * @param out The rescaled float depth image
* @param depth_factor (optional) factor by which depth is converted to distance (by default = 1000.0 for Kinect sensor)
*/ */
CV_EXPORTS_W CV_EXPORTS_W
void void
rescaleDepth(InputArray in, int depth, OutputArray out); rescaleDepth(InputArray in, int depth, OutputArray out, double depth_factor = 1000.0);
/** Object that can compute planes in an image /** Object that can compute planes in an image
*/ */

6
modules/rgbd/include/opencv2/rgbd/dynafu.hpp
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@@ -13,6 +13,7 @@
#include "kinfu.hpp" #include "kinfu.hpp"
namespace cv { namespace cv {
namespace dynafu { namespace dynafu {
/** @brief DynamicFusion implementation /** @brief DynamicFusion implementation
@@ -37,6 +38,11 @@ namespace dynafu {
That's why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use DynamicFusion. That's why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use DynamicFusion.
*/ */
/** Backwards compatibility for old versions */
using Params = kinfu::Params;
class CV_EXPORTS_W DynaFu class CV_EXPORTS_W DynaFu
{ {
public: public:

6
modules/rgbd/src/utils.cpp
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@@ -22,7 +22,7 @@ namespace rgbd
* @param out_out The rescaled float depth image * @param out_out The rescaled float depth image
*/ */
void void
rescaleDepth(InputArray in_in, int depth, OutputArray out_out) rescaleDepth(InputArray in_in, int depth, OutputArray out_out, double depth_factor)
{ {
cv::Mat in = in_in.getMat(); cv::Mat in = in_in.getMat();
CV_Assert(in.type() == CV_64FC1 || in.type() == CV_32FC1 || in.type() == CV_16UC1 || in.type() == CV_16SC1); CV_Assert(in.type() == CV_64FC1 || in.type() == CV_32FC1 || in.type() == CV_16UC1 || in.type() == CV_16SC1);
@@ -34,13 +34,13 @@ namespace rgbd
cv::Mat out = out_out.getMat(); cv::Mat out = out_out.getMat();
if (in_depth == CV_16U) if (in_depth == CV_16U)
{ {
in.convertTo(out, depth, 1 / 1000.0); //convert to float so that it is in meters in.convertTo(out, depth, 1 / depth_factor); //convert to float so that it is in meters
cv::Mat valid_mask = in == std::numeric_limits<ushort>::min(); // Should we do std::numeric_limits<ushort>::max() too ? cv::Mat valid_mask = in == std::numeric_limits<ushort>::min(); // Should we do std::numeric_limits<ushort>::max() too ?
out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$ out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$
} }
if (in_depth == CV_16S) if (in_depth == CV_16S)
{ {
in.convertTo(out, depth, 1 / 1000.0); //convert to float so tha$ in.convertTo(out, depth, 1 / depth_factor); //convert to float so tha$
cv::Mat valid_mask = (in == std::numeric_limits<short>::min()) | (in == std::numeric_limits<short>::max()); // Should we do std::numeric_limits<ushort>::max() too ? cv::Mat valid_mask = (in == std::numeric_limits<short>::min()) | (in == std::numeric_limits<short>::max()); // Should we do std::numeric_limits<ushort>::max() too ?
out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$ out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$
} }