added clearing pointcloud #18
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helenol
approved these changes
Jun 9, 2017
launch/dense_stereo.launch
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| <param name="first_camera_namespace" value="$(arg first_camera_name)"/> | ||
| <param name="second_camera_namespace" value="$(arg second_camera_name)"/> | ||
| <param name="scale" value="$(arg scale)"/> | ||
| <param name="scale" value="0.75"/> |
launch/dense_stereo.launch
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| <node name="dense_stereo" pkg="image_undistort" type="dense_stereo_node"> | ||
| <param name="input_camera_info_from_ros_params" value = "false"/> | ||
| <param name="input_camera_info_from_ros_params" value = "true"/> |
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yeah I need to rewrite and clean up the example launch files and some of the docs
src/depth.cpp
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| // the 16* is needed as opencv stores disparity maps as 16 * the true | ||
| // values | ||
| point.z = | ||
| (16 * focal_length * baseline) / static_cast<double>(filled_value); |
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Any checks for filled_value being above 0?
Fix/proper angle adjust
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Stereo pipeline now generates two pointclouds:
This second pointcloud is calculated in areas where there is too much uncertainty for a point to be located in the first cloud. It operates assuming any large change in depth will have a change in intensity that the stereo algorithm could detect. This means that if an unknown region A has a point to its right B, and a point to its left C then it can be assumed that the distance to A >= min(B,C).
The second pointcloud also adds points with a disparity of 0.0625 (1/16) where ever a disparity of 0 was detected.
While overly simple this extra processing requires minimal additional computation and improves freespace detection significantly
An image of the regular cloud (in grayscale) and the clearing pointcloud (in red) is shown in the image below.
@helenol