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fixing the depth rescale for different scales of width and height #10

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fixing the depth rescale for different scales of width and height #10

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20 changes: 14 additions & 6 deletions cells/RescaleRegisteredDepth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,30 +35,38 @@ struct RescaledRegisteredDepth {
cv::Mat valid_mask;
rescaleDepth(*depth_in_, CV_32F, depth);

float factor = float(isize.width) / dsize.width; //scaling factor.
float factor = float(isize.height) / dsize.height;
cv::Mat output(isize, depth.type());
//resize into the subregion of the correct aspect ratio
cv::Mat subregion(output.rowRange(0, dsize.height * factor));
int cols_nbr = dsize.width *factor;
int col_start = round((isize.width - cols_nbr)/2);
cv::Mat subregion(output.colRange(col_start, cols_nbr+col_start));
//use nearest neighbor to prevent discontinuities causing bogus depth.
cv::resize(depth, subregion, subregion.size(), CV_INTER_NN);
output.rowRange(dsize.height * factor, output.rows).setTo(
if (col_start > 0)
output.colRange(0, col_start-1).setTo(
cv::Scalar(std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN()));
output.colRange(cols_nbr+col_start, output.cols).setTo(
cv::Scalar(std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN()));
*depth_out_ = output;

//rescale the calibration matrix
K_out_->at<float>(0, 0) = K_out_->at<float>(0, 0) * factor;
K_out_->at<float>(0, 0) = K_out_->at<float>(0, 0) * static_cast<float>(isize.width) / static_cast<float>(dsize.width); //K_out_->at<float>(0, 0) * factor;
K_out_->at<float>(1, 1) = K_out_->at<float>(1, 1) * static_cast<float>(isize.height) / static_cast<float>(dsize.height);
K_out_->at<float>(0, 2) = static_cast<float>(isize.width-1) / 2.0f;
K_out_->at<float>(1, 2) = static_cast<float>(isize.height-1) / 2.0f;

if (!mask_in_->empty()) {
assert(mask_in_->size() == depth_in_->size());
cv::Mat mask(isize, CV_8U);
cv::Mat subregion(mask.rowRange(0, dsize.height * factor));
cv::Mat subregion(mask.colRange(col_start, cols_nbr+col_start));
//use nearest neighbor to prevent discontinuities causing bogus depth.
cv::resize(*mask_in_, subregion, subregion.size(), CV_INTER_NN);
mask.rowRange(dsize.height * factor, output.rows).setTo(cv::Scalar(0, 0, 0));
if (col_start > 0)
mask.colRange(0, col_start-1).setTo(cv::Scalar(0, 0, 0));
mask.colRange(cols_nbr+col_start, output.cols).setTo(cv::Scalar(0, 0, 0));
*mask_out_ = mask;
}

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