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Commit 668b8152 authored by Nicolas Pope's avatar Nicolas Pope
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Minor code tidy

parent 9e4b5ee6
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1 merge request!16Feature/virtualcam
Pipeline #11096 passed
...@@ -423,7 +423,6 @@ static void run() { ...@@ -423,7 +423,6 @@ static void run() {
virt->setScene(&scene); virt->setScene(&scene);
display.setSource(virt); display.setSource(virt);
//cv::Mat colour_array(cv::Size(rays.getRayCastParams().m_width,rays.getRayCastParams().m_height), CV_8UC3);
unsigned char frameCount = 0; unsigned char frameCount = 0;
bool paused = false; bool paused = false;
...@@ -442,25 +441,16 @@ static void run() { ...@@ -442,25 +441,16 @@ static void run() {
scene.nextFrame(); scene.nextFrame();
for (size_t i = 0; i < inputs.size(); i++) { for (size_t i = 0; i < inputs.size(); i++) {
//if (i == 1) continue; // Get the RGB-Depth frame from input
//Display &display = displays[i];
RGBDSource *input = inputs[i].source; RGBDSource *input = inputs[i].source;
Mat rgb, depth; Mat rgb, depth;
//LOG(INFO) << "GetRGB";
input->getRGBD(rgb,depth); input->getRGBD(rgb,depth);
//if (!display.active()) continue;
active += 1; 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; if (depth.cols == 0) continue;
// Must be in RGBA for GPU
Mat rgba; Mat rgba;
cv::cvtColor(rgb,rgba, cv::COLOR_BGR2BGRA); cv::cvtColor(rgb,rgba, cv::COLOR_BGR2BGRA);
......
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