From 0cc07689df2e948b0c8a252318c1db49b5f91342 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 14 Apr 2019 10:02:32 +0300
Subject: [PATCH] Minor changes to streaming code
---
reconstruct/src/main.cpp | 2 +-
vision/src/streamer.cpp | 13 ++-----------
2 files changed, 3 insertions(+), 12 deletions(-)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index 035712485..1885d8c39 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -152,7 +152,7 @@ static void run(const string &file) {
//LZ4_decompress_safe((char*)d.data(), (char*)depth.data, d.size(), depth.step*depth.rows);
cv::imdecode(d, cv::IMREAD_UNCHANGED, &depth);
- depth.convertTo(depth, CV_32FC1, 1.0f/256.0f); //, 1.0f/16.0f); //, 1.0f/256.0f);
+ depth.convertTo(depth, CV_32FC1, 1.0f/16.0f);
});
while (disp.active()) {
diff --git a/vision/src/streamer.cpp b/vision/src/streamer.cpp
index 47c7f7122..6a882949b 100644
--- a/vision/src/streamer.cpp
+++ b/vision/src/streamer.cpp
@@ -20,20 +20,13 @@ Streamer::~Streamer() {
}
-//static Mat last;
-
void Streamer::send(const Mat &rgb, const Mat &depth) {
// Compress the rgb as jpeg.
vector<unsigned char> rgb_buf;
cv::imencode(".jpg", rgb, rgb_buf);
Mat d2;
- depth.convertTo(d2, CV_16UC1, 256);
-
- //if (last.rows == 0) d2.copyTo(last);
-
- //Mat ddepth;
- //ddepth = d2 - last;
+ depth.convertTo(d2, CV_16UC1, 16);
vector<unsigned char> d_buf;
/*d_buf.resize(d2.step*d2.rows);
@@ -58,9 +51,7 @@ void Streamer::send(const Mat &rgb, const Mat &depth) {
// d_buf.resize(LZ4_compressBound(depth.step*depth.rows));
// int s = LZ4_compress_default((char*)depth.data, (char*)d_buf.data(), depth.step*depth.rows, d_buf.size());
// d_buf.resize(s);
-
- //Mat d2;
- //depth.convertTo(d2, CV_16UC1, 256);
+
cv::imencode(".png", d2, d_buf);
LOG(INFO) << "Depth Size = " << ((float)d_buf.size() / (1024.0f*1024.0f));
--
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