Revert to default compression zlib due to depth artifacts using png or jpeg2000

reconstruct/src/main.cpp

@@ -131,9 +131,9 @@ static void run(const string &file) {
 		cv::imdecode(jpg, cv::IMREAD_COLOR, &rgb);
 		//LOG(INFO) << "Received JPG : " << rgb.cols;
 		
-		//depth = Mat(rgb.size(), CV_16UC1);
+		depth = Mat(rgb.size(), CV_32FC1);
 		
-		/*z_stream infstream;
+		z_stream infstream;
 		infstream.zalloc = Z_NULL;
 		infstream.zfree = Z_NULL;
 		infstream.opaque = Z_NULL;
@@ -146,9 +146,9 @@ static void run(const string &file) {
 		// the actual DE-compression work.
 		inflateInit(&infstream);
 		inflate(&infstream, Z_NO_FLUSH);
-		inflateEnd(&infstream);*/
-		cv::imdecode(d, cv::IMREAD_GRAYSCALE, &depth);
-		//depth.convertTo(depth, CV_32FC1, 1.0f/(256.0f*16.0f));
+		inflateEnd(&infstream);
+		//cv::imdecode(d, cv::IMREAD_GRAYSCALE, &depth);
+		//depth.convertTo(depth, CV_32FC1); //, 1.0f/16.0f); //, 1.0f/256.0f);
 	});
 	
 	while (disp.active()) {

vision/src/main.cpp

@@ -185,14 +185,13 @@ static void run(const string &file) {
 			calibrate.rectified(l, r);
 
 			// Feed into sync buffer and network forward
-			sync->feed(ftl::LEFT, l, lsrc->getTimestamp());
-			sync->feed(ftl::RIGHT, r, lsrc->getTimestamp());
+			//sync->feed(ftl::LEFT, l, lsrc->getTimestamp());
+			//sync->feed(ftl::RIGHT, r, lsrc->getTimestamp());
 
 			// Read back from buffer
-			sync->get(ftl::LEFT, l);
-			sync->get(ftl::RIGHT, r);
+			//sync->get(ftl::LEFT, l);
+			//sync->get(ftl::RIGHT, r);
 
-			// TODO(nick) Pipeline this
 		    disparity->compute(l, r, disp);
 
 			unique_lock<mutex> lk(m);
@@ -219,13 +218,11 @@ static void run(const string &file) {
 		});
 
 		// Send RGB+Depth images for local rendering
-		display.render(l, disp);
+		if (pl.rows > 0) display.render(pl, pdisp);
 		display.wait(1);
 
 		unique_lock<mutex> lk(m);
 		cv.wait(lk, [&jobs]{return jobs == 2;});
-		
-		//sleep_for(milliseconds(40));
 
 		l.copyTo(pl);
 		disp.copyTo(pdisp);

vision/src/streamer.cpp

@@ -25,7 +25,7 @@ void Streamer::send(const Mat &rgb, const Mat &depth) {
 	cv::imencode(".jpg", rgb, rgb_buf);
 	
 	vector<unsigned char> d_buf;
-	/*d_buf.resize(depth.step*depth.rows);
+	d_buf.resize(depth.step*depth.rows);
 	z_stream defstream;
     defstream.zalloc = Z_NULL;
     defstream.zfree = Z_NULL;
@@ -35,14 +35,14 @@ void Streamer::send(const Mat &rgb, const Mat &depth) {
     defstream.avail_out = (uInt)depth.step*depth.rows; // size of output
     defstream.next_out = (Bytef *)d_buf.data(); // output char array
     
-    deflateInit(&defstream, Z_BEST_COMPRESSION);
+    deflateInit(&defstream, Z_DEFAULT_COMPRESSION);
     deflate(&defstream, Z_FINISH);
     deflateEnd(&defstream);
     
-    d_buf.resize(defstream.total_out);*/
+    d_buf.resize(defstream.total_out);
     //Mat d2;
-    //depth.convertTo(d2, CV_16UC1, 256.0f*16.0f);
-    cv::imencode(".png", depth, d_buf);
+    //depth.convertTo(d2, CV_16UC1, 256);
+    //cv::imencode(".png", depth, d_buf);
     LOG(INFO) << "Depth Size = " << ((float)d_buf.size() / (1024.0f*1024.0f));
     
     net_.publish(uri_, rgb_buf, d_buf);