diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp index aebac3c3657ee68c2d353160039839efec7608de..9a40bf1ad24e246205c5b02c2e39dc642d6ff030 100644 --- a/applications/reconstruct/src/main.cpp +++ b/applications/reconstruct/src/main.cpp @@ -423,7 +423,6 @@ static void run() { virt->setScene(&scene); display.setSource(virt); - //cv::Mat colour_array(cv::Size(rays.getRayCastParams().m_width,rays.getRayCastParams().m_height), CV_8UC3); unsigned char frameCount = 0; bool paused = false; @@ -442,25 +441,16 @@ static void run() { scene.nextFrame(); for (size_t i = 0; i < inputs.size(); i++) { - //if (i == 1) continue; - //Display &display = displays[i]; + // Get the RGB-Depth frame from input RGBDSource *input = inputs[i].source; Mat rgb, depth; - //LOG(INFO) << "GetRGB"; input->getRGBD(rgb,depth); - //if (!display.active()) continue; active += 1; - //clouds[i] = ftl::rgbd::createPointCloud(input); - - //display.render(rgb, depth,input->getParameters()); - //display.render(clouds[i]); - //display.wait(5); - - //LOG(INFO) << "Data size: " << depth.cols << "," << depth.rows; if (depth.cols == 0) continue; + // Must be in RGBA for GPU Mat rgba; cv::cvtColor(rgb,rgba, cv::COLOR_BGR2BGRA);