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src/components/projection.cpp

@@ -172,6 +172,8 @@ void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frame
 
 /*
     fill with value of the 1st non null neighbour
+    Fixe only the holes formed by the deprojection round up coordinates (because deproject goes from 3D floats values to 2D uint),
+    not the big deprojection (like a hand moving above the sand).
 */
 void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &frameMap){
 
@@ -183,8 +185,8 @@ void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &fr
                 cv::Vec3b color;
                 bool found = false;
 
-                for(int d_y = -1; d_y <= 1 && !found; d_y++){
-                    for(int d_x = -1; d_x <= 1 && !found; d_x++){
+                for(int d_y = -1; d_y <= 1; d_y++){
+                    for(int d_x = -1; d_x <= 1; d_x++){
                 
                         if(!(d_x == 0 && d_y == 0)){
                             
@@ -193,9 +195,12 @@ void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &fr
                             if( ((0 <= x && x < dst.cols) && (0 <= y && y < dst.rows)) && (frameMap.at<cv::Point2i>(y,x) != cv::Point2i(-1,-1)) ){
                                 color = dst.at<cv::Vec3b>(y,x);
                                 found = true;
+                                break;
                             }
                         }
                     }
+                    if(found)
+                        break;
                 }
 
                 if(found){