From 5bb133aced87324df067d3dab9ae8a3cf571e4df Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 29 Jun 2019 08:54:13 +0300
Subject: [PATCH] Resolves #118 and changes to mm res in png
---
components/rgbd-sources/src/net.cpp | 2 +-
components/rgbd-sources/src/snapshot.cpp | 2 +-
components/rgbd-sources/src/streamer.cpp | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 330fc907e..ad034adf2 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -117,7 +117,7 @@ void NetSource::_recvChunk(int frame, int chunk, bool delta, const vector<unsign
cv::Mat chunkDepth = depth_(roi);
tmp_rgb.copyTo(chunkRGB);
- tmp_depth.convertTo(chunkDepth, CV_32FC1, 1.0f/(16.0f*10.0f));
+ tmp_depth.convertTo(chunkDepth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
if (chunk == 0) N_--;
}
diff --git a/components/rgbd-sources/src/snapshot.cpp b/components/rgbd-sources/src/snapshot.cpp
index 23c9d218b..2bcb95fa8 100644
--- a/components/rgbd-sources/src/snapshot.cpp
+++ b/components/rgbd-sources/src/snapshot.cpp
@@ -138,7 +138,7 @@ bool SnapshotWriter::addCameraParams(const string &name, const Matrix4d &pose, c
bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat &depth) {
bool retval = true;
cv::Mat tdepth;
- depth.convertTo(tdepth, CV_16SC1, 16.0f*10.0f);
+ depth.convertTo(tdepth, CV_16UC1, 1000.0f);
retval &= addMat(name + "-RGB", rgb, "jpg");
retval &= addMat(name + "-D", tdepth, "png");
return retval;
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index cd658f33e..10ada28fc 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -327,7 +327,7 @@ void Streamer::_schedule() {
cv::Mat d2, d3;
vector<unsigned char> d_buf;
- chunkDepth.convertTo(d2, CV_16UC1, 16*10);
+ chunkDepth.convertTo(d2, CV_16UC1, 1000); // 16*10);
//if (delta) d3 = (d2 * 2) - chunkDepthPrev;
//else d3 = d2;
//d2.copyTo(chunkDepthPrev);
--
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