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depth_image_proc register cover all angles with fill_upsampling_holes #722

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depth_image_proc register cover all angles with fill_upsampling_holes #722

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Commits on Dec 24, 2022

  1. reformatting the depth register code some, can factor some things out… 

    … and increase clarity more but not sure if it will result in performance changes
    @lucasw
    lucasw committed Dec 24, 2022
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  2. make the filled upsampling holes more filled in more relative angle c… 

    …ases, but it still reduces to a sliver from some angles
    @lucasw
    lucasw committed Dec 24, 2022
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  3. factored out common code from depth_image_proc register convert

    @lucasw
    lucasw committed Dec 24, 2022
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  4. Now fully cover the area to fill with rectangles in the target image … 

    …for depth_image_proc register when filling holes, eliminating the sliver effect from some angles (low angles will stil have them, would need to use depth values from adjacent pixels to avoid that)
    @lucasw
    lucasw committed Dec 24, 2022
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  5. don't pass through negative depth values for now

    @lucasw
    lucasw committed Dec 24, 2022
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  6. basic depth_image_proc unit test of a camera situated behind the dept… 

    …h camera, next try a camera at an angle to the depth points next
    @lucasw
    lucasw committed Dec 24, 2022
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  7. don't take a timestamp too early

    @lucasw
    lucasw committed Dec 24, 2022
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