From 1904bb0db239ed09904d361bd2ac5e58db991a80 Mon Sep 17 00:00:00 2001
From: "simon.fanetti" <simon.fanetti@etu.hesge.ch>
Date: Sun, 9 Aug 2020 20:58:12 +0200
Subject: [PATCH] cleaning
---
src/components/camera.cpp | 7 +++++--
src/components/projection.cpp | 25 ++-----------------------
src/lib/sandbox.cpp | 2 +-
3 files changed, 8 insertions(+), 26 deletions(-)
diff --git a/src/components/camera.cpp b/src/components/camera.cpp
index 11b5984..4dc25d8 100644
--- a/src/components/camera.cpp
+++ b/src/components/camera.cpp
@@ -33,8 +33,11 @@ Camera::~Camera(){
cv::Mat Camera::getDepthFrame(){
static cv::Mat values = cv::Mat(depth_frame->get_height(), depth_frame->get_width(), CV_16UC1);
static cv::Mat meters = cv::Mat(depth_frame->get_height(), depth_frame->get_width(), CV_32FC1);
- values.data = (uchar*)depth_frame->get_data();
- values.convertTo(meters, CV_32FC1, depth_scale);
+ uchar* new_values = (uchar*)depth_frame->get_data();
+ if(values.data != new_values){
+ values.data = new_values;
+ values.convertTo(meters, CV_32FC1, depth_scale);
+ }
return meters.clone();
};
diff --git a/src/components/projection.cpp b/src/components/projection.cpp
index 194fddd..93bdd06 100644
--- a/src/components/projection.cpp
+++ b/src/components/projection.cpp
@@ -33,12 +33,9 @@ cv::Point2i Projection::revertRotatePixel(cv::Point2i center, double angle, cv::
Adjust the projected frame with the topology from the camera to the beamer POV
*/
void Projection::adjustFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Vec3b> &src, cv::Mat_<cv::Vec3b> &dst, Camera *camera, cv::Point3f beamer_pos){
-
- // deallocate and reallocate buffers if 1st pass
- // or dst.size changed, since for all buffers :
- // buff.size == dst.size
- // try
+ // update if dst.size changed, since for all buffers :
+ // buff.size == dst.size
if(deprojectMap.size() != dst.size()){
std::vector<cv::Point2f> profil = camera->getAdaptedIntrinsics(dst);
fxy = profil.at(0);
@@ -50,25 +47,7 @@ void Projection::adjustFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Vec3b> &src, c
frameMap.create(dst.rows, dst.cols);
resized_depth.create(dst.rows, dst.cols);
resized_src.create(dst.rows, dst.cols);
-/*
- // default
- if(deprojectMap.empty() || deprojectMap.size() != dst.size()){
- if(!deprojectMap.empty()){
- deprojectMap.release();
- frameMap.release();
- resized_depth.release();
- resized_src.release();
- }
- deprojectMap.create(dst.rows, dst.cols);
- frameMap.create(dst.rows, dst.cols);
- resized_depth.create(dst.rows, dst.cols);
- resized_src.create(dst.rows, dst.cols);
- std::vector<cv::Point2f> profil = camera->getAdaptedIntrinsics(dst);
- fxy = profil.at(0);
- ppxy = profil.at(1);
- }
-*/
deprojectMap = cv::Point2i(-1,-1);
frameMap = cv::Point2i(-1,-1);
diff --git a/src/lib/sandbox.cpp b/src/lib/sandbox.cpp
index c0eeb6d..bd55181 100644
--- a/src/lib/sandbox.cpp
+++ b/src/lib/sandbox.cpp
@@ -51,7 +51,7 @@ cv::Mat_<cv::Vec3b> Sandbox::adjustProjection(cv::Mat_<cv::Vec3b> &frame, cv::Ma
//cv::dilate(projectedFrame, projectedFrame, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
//cv::erode(projectedFrame, projectedFrame, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
- return projectedFrame;
+ return projectedFrame.clone();
}
cv::Mat_<cv::Vec3b> Sandbox::adjustProjection(cv::Mat_<cv::Vec3b> &frame){
--
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