From 0f63604c8eb364b96a27def3b65aa0ea212381ac Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 6 May 2019 17:16:20 +0300
Subject: [PATCH] Speed up PCL vis
---
renderer/cpp/src/display.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/renderer/cpp/src/display.cpp b/renderer/cpp/src/display.cpp
index 172095ff4..5a8a325a9 100644
--- a/renderer/cpp/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -63,11 +63,11 @@ static pcl::PointCloud<pcl::PointXYZRGB>::Ptr matToPointXYZ(const cv::Mat &Openc
uint32_t rgb = (static_cast<uint32_t>(prgb.z) << 16 | static_cast<uint32_t>(prgb.y) << 8 | static_cast<uint32_t>(prgb.x));
point.rgb = *reinterpret_cast<float*>(&rgb);
- point_cloud_ptr -> points.push_back(point);
+ if (point.z != INFINITY) point_cloud_ptr -> points.push_back(point);
}
}
- point_cloud_ptr->width = (int)point_cloud_ptr->points.size();
- point_cloud_ptr->height = 1;
+ point_cloud_ptr->width = OpencVPointCloud.cols; //(int)point_cloud_ptr->points.size();
+ point_cloud_ptr->height = OpencVPointCloud.rows;
return point_cloud_ptr;
}
@@ -99,7 +99,7 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
);*/
cv::Mat_<cv::Vec3f> XYZ(depth.rows, depth.cols); // Output point cloud
- reprojectImageTo3D(depth, XYZ, q_, true);
+ reprojectImageTo3D(depth+20.0f, XYZ, q_, true);
auto pc = matToPointXYZ(XYZ, rgb);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pc);
@@ -175,7 +175,7 @@ bool Display::render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc) {
void Display::wait(int ms) {
if (config_["points"] && q_.rows != 0) {
#if defined HAVE_PCL
- pclviz_->spinOnce (100);
+ pclviz_->spinOnce(5);
#elif defined HAVE_VIZ
window_->spinOnce(1, true);
#endif // HAVE_VIZ
--
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