reprojectImageTo3D not working for CV_16U

asked 2015-05-11 03:19:03 -0500

Philippe gravatar image

Hi All

For Kinect2, I have used the built in intrinsics, the initUndistortRectifyMap, remap, and then I want to repojectImagetTo3D. I see it works for the depth image only if I convert it first to CV_8UC1 or CV_32FC1. i.e. it does not work for the original format of CV_16U. Is there a new version of repojectImagetTo3D that can handle CV_16U ? Also, it appears that remap and reporjectImageTo3D runs on the CPU, how do I move this to the GPU? When I correct the IR or depth image, it reduces my frame rate from 15 down to <12 frames per second (I am doing other processing, but the relative drop in performance for just using a LUT and matrix manipulation appears terrible).

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