Back to PNG with some fixes to make quality apparently equal to zlib (should be the same)

reconstruct/src/main.cpp

@@ -132,9 +132,9 @@ static void run(const string &file) {
 		cv::imdecode(jpg, cv::IMREAD_COLOR, &rgb);
 		//LOG(INFO) << "Received JPG : " << rgb.cols;
 		
-		depth = Mat(rgb.size(), CV_32FC1);
+		depth = Mat(rgb.size(), CV_16UC1);
 		
-		z_stream infstream;
+		/*z_stream infstream;
 		infstream.zalloc = Z_NULL;
 		infstream.zfree = Z_NULL;
 		infstream.opaque = Z_NULL;
@@ -147,12 +147,12 @@ static void run(const string &file) {
 		// the actual DE-compression work.
 		inflateInit(&infstream);
 		inflate(&infstream, Z_NO_FLUSH);
-		inflateEnd(&infstream);
+		inflateEnd(&infstream);*/
 		
 		//LZ4_decompress_safe((char*)d.data(), (char*)depth.data, d.size(), depth.step*depth.rows);
 		
-		//cv::imdecode(d, cv::IMREAD_GRAYSCALE, &depth);
-		//depth.convertTo(depth, CV_32FC1); //, 1.0f/16.0f); //, 1.0f/256.0f);
+		cv::imdecode(d, cv::IMREAD_UNCHANGED, &depth);
+		depth.convertTo(depth, CV_32FC1, 1.0f/256.0f); //, 1.0f/16.0f); //, 1.0f/256.0f);
 	});
 	
 	while (disp.active()) {

vision/src/streamer.cpp

@@ -20,27 +20,39 @@ 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;
+	
 	vector<unsigned char> d_buf;
-	d_buf.resize(depth.step*depth.rows);
+	/*d_buf.resize(d2.step*d2.rows);
 	z_stream defstream;
     defstream.zalloc = Z_NULL;
     defstream.zfree = Z_NULL;
     defstream.opaque = Z_NULL;
-    defstream.avail_in = depth.step*depth.rows;
-    defstream.next_in = (Bytef *)depth.data; // input char array
-    defstream.avail_out = (uInt)depth.step*depth.rows; // size of output
+    defstream.avail_in = d2.step*d2.rows;
+    defstream.next_in = (Bytef *)d2.data; // input char array
+    defstream.avail_out = (uInt)d2.step*d2.rows; // size of output
     defstream.next_out = (Bytef *)d_buf.data(); // output char array
     
     deflateInit(&defstream, 4); // Z_DEFAULT_COMPRESSION
     deflate(&defstream, Z_FINISH);
     deflateEnd(&defstream);
     
-    d_buf.resize(defstream.total_out);
+    d2.copyTo(last);
+    
+    d_buf.resize(defstream.total_out);*/
     
     // LZ4 Version
     // d_buf.resize(LZ4_compressBound(depth.step*depth.rows));
@@ -49,7 +61,7 @@ void Streamer::send(const Mat &rgb, const Mat &depth) {
     
     //Mat d2;
     //depth.convertTo(d2, CV_16UC1, 256);
-    //cv::imencode(".png", depth, d_buf);
+    cv::imencode(".png", d2, d_buf);
     LOG(INFO) << "Depth Size = " << ((float)d_buf.size() / (1024.0f*1024.0f));
     
     net_.publish(uri_, rgb_buf, d_buf);