对深度图做拉普拉斯算子,寻找沙丘棱
double min;
double max;
cv::minMaxIdx(map, &min, &max);
/失败/
for(int i=0;i<depth.rows;i++)
{
for(int j=0;j<depth.cols;j++)
{
if(depth.at<short>(i,j)>800)
{
depth.at<short>(i,j)=0;
}
}
}
cv::Mat depth1,depth2;
cv::convertScaleAbs(depth, depth,255/(800.0*2));
cv::Laplacian(depth,depth1,CV_16S, 3, 1, 0);
cv::convertScaleAbs(depth1, depth2);
``
图片翻转
cv::flip(color_img,color_img,1);
数据格式转换
cv::Mat depths;
cv::convertScaleAbs(depth,depths,255/300);
点云查看
for(int i=0;i<cloud2->points.size();i++) {
std::cout << cloud2->points[i] << std::endl;
}
查看运行时间
#include <sys/time.h>
struct timeval st,en;
gettimeofday(&st,NULL);
gettimeofday(&en,NULL);
std::cout << "time : " << (en.tv_usec - st.tv_usec)/1000.0 << "ms" << std::endl;