debug

apps/display_levels/Makefile

@@ -12,6 +12,7 @@ display_levels: display_levels.o
 	$(CCP) $^ -o $@ -L$(API_PATH)/build -lsandbox $(DEP_SANDBOX)
 
 %.o: %.cpp
+	#$(CCP) $(DBG_GPROF) $(CFLAGS) -I$(API_PATH)/inc -c $< -o $@ 
 	$(CCP) $(CFLAGS) -I$(API_PATH)/inc -c $< -o $@ 
 
 run:

apps/display_levels/display_levels.cpp

@@ -12,7 +12,7 @@ int main(){
     char *sandbox_conf_file = (char*)"../../sandbox_conf.yaml";
   
     // Debug
-//    char * sandbox_conf_file = (char *)"../../../sandbox_conf.yaml";
+    //char * sandbox_conf_file = (char *)"../../../sandbox_conf.yaml";
 
     if(sandbox.loadConfigFrom(sandbox_conf_file)){
         std::cout << "Failed to load the configuration" << std::endl;
@@ -34,7 +34,7 @@ int main(){
 */
 void displayLevels(Sandbox &sandbox){
 
-    float sandboxHeight = 0.2f;
+    float sandboxHeight = 0.17f;
     // top => distance from camera to the top of the sandbox
     float top = sandbox.getProjection()->getDistanceTopSandbox();
         
@@ -54,20 +54,20 @@ void displayLevels(Sandbox &sandbox){
 /*
     std::chrono::milliseconds start_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
     int cpt_frame = 0;
-*/  
+*/ 
     do{
     //for(int i=0; i<200; i++){
         sandbox.captureFrame();
         sandbox.getDepthFrame().copyTo(new_depth);
         new_depth.copyTo( depth_cache, (cv::abs(depth_cache-new_depth) > DEPTH_MARGIN_ERROR) );
 
-        colorizeDepth(depth_cache, top-sandboxHeight, sandboxHeight).copyTo(colorized);
+        colorizeDepth(depth_cache, top, sandboxHeight).copyTo(colorized);
         cv::cvtColor(colorized, res, CV_RGB2BGR);
         sandbox.adjustProjection(res).copyTo(res);
 
         cv::imshow(windowName, res);
 
-        /*
+/*        
         cpt_frame++;
         std::chrono::milliseconds now_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
         if(now_ms-start_ms > std::chrono::milliseconds(1000)){
@@ -75,7 +75,7 @@ void displayLevels(Sandbox &sandbox){
             cpt_frame = 0;
             start_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
         }
-        */
+*/        
 
     //}
     } while (cv::waitKey(10) != ESCAPE_CHAR);