add property to keep NaN values in Pointcloud#1
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tknobi wants to merge 2 commits intorock-perception:masterfrom
Open
add property to keep NaN values in Pointcloud#1tknobi wants to merge 2 commits intorock-perception:masterfrom
tknobi wants to merge 2 commits intorock-perception:masterfrom
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chhtz
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Mar 2, 2026
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I guess nobody felt responsible answering here.
Assuming this is still relevant, I'd be ok merging this (once conflicts are resolved).
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| pc.colors.push_back(Eigen::Vector4d(0,0,0,1.0f)); | ||
| } | ||
| continue; |
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Maybe just } else {continue;} instead of coloring invalid pixels black?
| for(int x = 0; x<frame_sample->width;x++){ | ||
| if(!frame_sample->getScenePoint(x,y,v)){ | ||
| if(keepNAN) { | ||
| v<<base::NaN<double>(),base::NaN<double>(),base::NaN<double>(); |
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Slightly shorter: v.setConstant(base::NaN<double>()); (same in the other loop).
| if (! DepthImage2PointcloudBase::configureHook()) | ||
| return false; | ||
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| keepNAN=_keepNAN.get(); |
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For these simple flags, which don't actually require configuring I'd usually prefer just reading them inside the update-hook (i.e., into a local bool variable, before doing the loop).
I don't know if there is any kind of guideline/best practice if/when this is acceptable in Rock.
chhtz
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Mar 3, 2026
feat: configure thread amount on OpenCV
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The result is a organized pointcloud with a static size. This is necessary for some algorithms.