update holefilling with 1st non null neighbour

app/SandboxSetup/croppingmask.cpp

@@ -87,7 +87,7 @@ void CroppingMask::init(){
     }
 
     // no config found
-    if(rectPoints.empty() || !maskValideInFrame(&cameraColoredFrame)){
+    if(!maskValideInFrame(&cameraColoredFrame)){
             float y = cameraColoredFrame.size().height;
             float x = cameraColoredFrame.size().width;
             rectPoints = std::vector<cv::Point2i>{ cv::Point2i(1.0/4*x, 1.0/4*y), cv::Point2i(1.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 1.0/4*y) };

inc/projection.h

@@ -10,13 +10,16 @@ class Projection{
         cv::Mat_<float> adjustingMatrix;
         float distanceTopSandbox;
 
+        // resized depth frame to dst resolution
         cv::Mat_<float> resized_depth;
+        // resized src to project to dst resolution
         cv::Mat_<cv::Vec3b> resized_src;
         // Buffer containing the pixels's new location when deprojected to beamer's POV
         cv::Mat_<cv::Point2i> deprojectMap;
-        // Buffer indicating from where to get the pixels in the source frame
+        // Buffer indicating from where to get the pixels in the source frame to build the output
         cv::Mat_<cv::Point2i> frameMap;
 
+        // intrinsics parameters for deprojection, which are adapted to projection's resolution
         cv::Point2f fxy;
         cv::Point2f ppxy;
 

src/components/projection.cpp

@@ -172,7 +172,7 @@ void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frame
 }
 
 /*
-    average of non null neighbours
+    fill with value of the 1st non null neighbour
 */
 void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &frameMap){
 
@@ -181,34 +181,26 @@ void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &fr
             
             if(frameMap.at<cv::Point2i>(i,j) == cv::Point2i(-1,-1)){
 
-                int cpt = 0;
-                int r = 0;
-                int g = 0;
-                int b = 0;
+                cv::Vec3b color;
+                bool found = false;
 
-                for(int d_y = -1; d_y <= 1; d_y++){
-                    for(int d_x = -1; d_x <= 1; d_x++){
+                for(int d_y = -1; d_y <= 1 && !found; d_y++){
+                    for(int d_x = -1; d_x <= 1 && !found; d_x++){
                 
                         if(!(d_x == 0 && d_y == 0)){
                             
                             int y = i+d_y;
                             int x = j+d_x;
                             if( ((0 <= x && x < dst.cols) && (0 <= y && y < dst.rows)) && (frameMap.at<cv::Point2i>(y,x) != cv::Point2i(-1,-1)) ){
-                                cv::Vec3b color = dst.at<cv::Vec3b>(y,x);
-                                r += color[0];
-                                g += color[1];
-                                b += color[2];
-                                cpt++;
+                                color = dst.at<cv::Vec3b>(y,x);
+                                found = true;
                             }
                         }
                     }
                 }
 
-                if(cpt > 0){
-                    r /= cpt;
-                    g /= cpt;
-                    b /= cpt;
-                    dst.at<cv::Vec3b>(i,j) = cv::Vec3b(r,g,b);
+                if(found){
+                    dst.at<cv::Vec3b>(i,j) = color;
                 }
             }
         }