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DepthConverter INVALID_POINT fix #3

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DepthConverter INVALID_POINT fix #3

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d225b5a
DepthConverter INVALID_POINT fix
mlaszko Sep 2, 2014
3674ab1
fix
mlaszko Sep 2, 2014
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21 changes: 13 additions & 8 deletions src/Components/DepthConverter/DepthConverter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,13 +15,13 @@ namespace DepthConverter {
DepthConverter::DepthConverter(const std::string & name) :
Base::Component(name),
depthMode("depth_mode",rawMap, "combo") {
LOG(LTRACE) << "Hello DepthConverter\n";
CLOG(LTRACE) << "Hello DepthConverter";

registerProperty(depthMode);
}

DepthConverter::~DepthConverter() {
LOG(LTRACE) << "Good bye DepthConverter\n";
CLOG(LTRACE) << "Good bye DepthConverter";
}

void DepthConverter::prepareInterface() {
Expand All @@ -40,20 +40,20 @@ void DepthConverter::prepareInterface() {
}

bool DepthConverter::onInit() {
LOG(LTRACE) << "DepthConverter::initialize\n";
CLOG(LTRACE) << "DepthConverter::initialize";


return true;
}

bool DepthConverter::onFinish() {
LOG(LTRACE) << "DepthConverter::finish\n";
CLOG(LTRACE) << "DepthConverter::finish";

return true;
}

bool DepthConverter::onStep() {
LOG(LTRACE) << "DepthConverter::step\n";
CLOG(LTRACE) << "DepthConverter::step";
return true;
}

Expand All @@ -66,6 +66,7 @@ bool DepthConverter::onStart() {
}

void DepthConverter::onNewDepth() {
CLOG(LTRACE) << "DepthConverter::onNewDepth()";
m_depth = in_depth.read();

switch(depthMode) {
Expand Down Expand Up @@ -99,6 +100,7 @@ void DepthConverter::onNewDepth() {
* Based on OpenCv HighGUI
*/
void DepthConverter::convertToPointCloudMap(cv::Mat& data, cv::Mat& dataOut) {
CLOG(LTRACE) << "DepthConverter::convertToPointCloudMap()";
// !! This data are not exactly the same as when using opencv. Might need
// some adjustments in the future. It's supposed to imitate the function
// xnConvertProjectiveToRealWorld from OpenNI. Some attempt for this
Expand All @@ -115,7 +117,6 @@ void DepthConverter::convertToPointCloudMap(cv::Mat& data, cv::Mat& dataOut) {

cv::Mat pointCloud_XYZ(ROWS, COLS, CV_32FC3,
cv::Scalar::all (INVALID_PIXEL));

for (int y = 0; y < ROWS; y++) {
for (int x = 0; x < COLS; x++) {
double depth = data.at<unsigned short>(y, x);
Expand All @@ -128,7 +129,7 @@ void DepthConverter::convertToPointCloudMap(cv::Mat& data, cv::Mat& dataOut) {
float xx = ((x - cx_d) * depth * fx_d) * 0.001f;
float yy = ((y - cy_d) * depth * fy_d) * 0.001f;
float dd = depth * 0.001f;
float zz = sqrt(dd*dd-xx*xx-yy*yy);
//float zz = sqrt(dd*dd-xx*xx-yy*yy);
pointCloud_XYZ.at < cv::Point3f > (y, x) = cv::Point3f(xx, yy, dd);
}
}
Expand All @@ -141,6 +142,7 @@ void DepthConverter::convertToPointCloudMap(cv::Mat& data, cv::Mat& dataOut) {
* Based on OpenCv HighGUI
*/
void DepthConverter::convertToDisparityMap(cv::Mat& data, cv::Mat& dataOut) {
CLOG(LTRACE) << "DepthConverter::convertToDisparityMap()";
cv::Mat disp32;

double mult = BASELINE * FOCAL_LENGTH;
Expand All @@ -158,6 +160,7 @@ void DepthConverter::convertToDisparityMap(cv::Mat& data, cv::Mat& dataOut) {
}

void DepthConverter::convertToDisparityMap32f(cv::Mat& data, cv::Mat& dataOut) {
CLOG(LTRACE) << "DepthConverter::convertToDisparityMap32f()";
double mult = BASELINE * FOCAL_LENGTH;

dataOut.create(data.size(), CV_32FC1);
Expand All @@ -172,12 +175,14 @@ void DepthConverter::convertToDisparityMap32f(cv::Mat& data, cv::Mat& dataOut) {
}

void DepthConverter::convertToValidPixelsMap(cv::Mat& data, cv::Mat& dataOut) {
CLOG(LTRACE) << "DepthConverter::convertToValidPixelsMap()";
dataOut = (data != INVALID_PIXEL);
}

typedef struct{uchar r; uchar g; uchar b;} color;

void DepthConverter::convertToRainbowMap(cv::Mat& data, cv::Mat& dataOut) {
CLOG(LTRACE) << "DepthConverter::convertToRainbowMap()";
cv::Mat out;

out.create(data.size(), CV_8UC3);
Expand Down Expand Up @@ -225,7 +230,7 @@ void DepthConverter::convertToRainbowMap(cv::Mat& data, cv::Mat& dataOut) {
}

if (curDepth == INVALID_PIXEL)
col.r=col.g=col.b = 0;
col.r=col.g=col.b = 0;
out.at<color>(y, x) = col;
}
}
Expand Down
5 changes: 3 additions & 2 deletions src/Components/DepthConverter/DepthConverter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,8 +89,9 @@ class DepthConverter: public Base::Component
// "When the Kinect can't see the ir reflection
// or has no depth data for a pixel, it returns
// 2047 for the depth value"
static const int INVALID_PIXEL = 2047;
static const int INVALID_COORDINATE = 100000;
// 02.09.2014 FIX: according to the LibFreeNect documentation 0 is the value returned in the case of invalid depth.
static const int INVALID_PIXEL = 0;
static const int INVALID_COORDINATE = 100000;
// baseline and focal length from opencv properties
static const int BASELINE = 75;
static const int FOCAL_LENGTH = 575;
Expand Down