depth_image_proc register cover all angles with fill_upsampling_holes#722

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lucasw wants to merge 7 commits intoros-perception:noeticfrom lucasw:register-depth-fill-angles

+567-64

Commits on Dec 24, 2022

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
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make the filled upsampling holes more filled in more relative angle cases, but it still reduces to a sliver from some angles
lucasw
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factored out common code from depth_image_proc register convert
lucasw
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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…
lucasw
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don't pass through negative depth values for now
lucasw
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basic depth_image_proc unit test of a camera situated behind the depth camera, next try a camera at an angle to the depth points next
lucasw
committed
don't take a timestamp too early
lucasw
committed