From 2c14e0faf9c089df5ffb12c41932524d79c1f748 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 7 Aug 2019 20:12:32 +0300
Subject: [PATCH] WIP Fix for snapshot and recon
---
components/rgbd-sources/src/snapshot_source.cpp | 11 ++++++++++-
components/rgbd-sources/src/snapshot_source.hpp | 6 ++++--
components/rgbd-sources/src/source.cpp | 8 ++++----
3 files changed, 18 insertions(+), 7 deletions(-)
diff --git a/components/rgbd-sources/src/snapshot_source.cpp b/components/rgbd-sources/src/snapshot_source.cpp
index 030e56dd4..aa5268549 100644
--- a/components/rgbd-sources/src/snapshot_source.cpp
+++ b/components/rgbd-sources/src/snapshot_source.cpp
@@ -15,7 +15,10 @@ using std::vector;
SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, SnapshotReader &reader, const string &id) : detail::Source(host) {
Eigen::Matrix4d pose;
- reader.getCameraRGBD(id, rgb_, depth_, pose, params_);
+ reader.getCameraRGBD(id, snap_rgb_, snap_depth_, pose, params_);
+
+ rgb_ = snap_rgb_;
+ depth_ = snap_depth_;
if (rgb_.empty()) LOG(ERROR) << "Did not load snapshot rgb - " << id;
if (depth_.empty()) LOG(ERROR) << "Did not load snapshot depth - " << id;
@@ -50,3 +53,9 @@ SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, SnapshotReader &reader,
host->setPose(pose);
}
+
+bool SnapshotSource::compute(int n, int b) {
+ snap_rgb_.copyTo(rgb_);
+ snap_depth_.copyTo(depth_);
+ return true;
+}
diff --git a/components/rgbd-sources/src/snapshot_source.hpp b/components/rgbd-sources/src/snapshot_source.hpp
index abc8fd76b..eb4e58594 100644
--- a/components/rgbd-sources/src/snapshot_source.hpp
+++ b/components/rgbd-sources/src/snapshot_source.hpp
@@ -17,11 +17,13 @@ class SnapshotSource : public detail::Source {
SnapshotSource(ftl::rgbd::Source *, ftl::rgbd::SnapshotReader &reader, const std::string &id);
~SnapshotSource() {};
- bool compute(int n, int b) override { return true; };
+ bool compute(int n, int b);
bool isReady() { return true; }
//void reset();
-
+ private:
+ cv::Mat snap_rgb_;
+ cv::Mat snap_depth_;
};
}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 4a3b7093b..913fe4acb 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -165,18 +165,18 @@ ftl::rgbd::detail::Source *Source::_createDeviceImpl(const ftl::URI &uri) {
void Source::getFrames(cv::Mat &rgb, cv::Mat &depth) {
SHARED_LOCK(mutex_,lk);
- //rgb_.copyTo(rgb);
- //depth_.copyTo(depth);
+ rgb_.copyTo(rgb);
+ depth_.copyTo(depth);
//rgb = rgb_;
//depth = depth_;
- cv::Mat tmp;
+ /*cv::Mat tmp;
tmp = rgb;
rgb = rgb_;
rgb_ = tmp;
tmp = depth;
depth = depth_;
- depth_ = tmp;
+ depth_ = tmp;*/
}
Eigen::Vector4d Source::point(uint ux, uint uy) {
--
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