From c50cfc32e2bbdb5149ac6dbb548a69e0d8e39b91 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 13 Jun 2019 12:35:20 +0300
Subject: [PATCH] Output depth in recon raycast mode
---
applications/reconstruct/include/ftl/ray_cast_sdf.hpp | 2 ++
applications/reconstruct/src/virtual_source.cpp | 9 +++++++--
2 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/applications/reconstruct/include/ftl/ray_cast_sdf.hpp b/applications/reconstruct/include/ftl/ray_cast_sdf.hpp
index 658e8ceeb..d796b1cfc 100644
--- a/applications/reconstruct/include/ftl/ray_cast_sdf.hpp
+++ b/applications/reconstruct/include/ftl/ray_cast_sdf.hpp
@@ -18,6 +18,8 @@ public:
hash_render_ = value("hash_renderer", false);
}
+ bool isIntegerDepth() const { return hash_render_; }
+
~CUDARayCastSDF(void) {
destroy();
}
diff --git a/applications/reconstruct/src/virtual_source.cpp b/applications/reconstruct/src/virtual_source.cpp
index 072f71cb5..157b71a3d 100644
--- a/applications/reconstruct/src/virtual_source.cpp
+++ b/applications/reconstruct/src/virtual_source.cpp
@@ -26,6 +26,7 @@ VirtualSource::VirtualSource(ftl::rgbd::Source *host)
rgb_ = cv::Mat(cv::Size(params_.width,params_.height), CV_8UC3);
idepth_ = cv::Mat(cv::Size(params_.width,params_.height), CV_32SC1);
+ depth_ = cv::Mat(cv::Size(params_.width,params_.height), CV_32FC1);
}
VirtualSource::~VirtualSource() {
@@ -52,8 +53,12 @@ bool VirtualSource::grab() {
rays_->render(scene_->getHashData(), scene_->getHashParams(), params, host_->getPose());
//unique_lock<mutex> lk(mutex_);
- rays_->getRayCastData().download((int*)idepth_.data, (uchar3*)rgb_.data, rays_->getRayCastParams());
- idepth_.convertTo(depth_, CV_32FC1, 1.0f / 100.0f);
+ if (rays_->isIntegerDepth()) {
+ rays_->getRayCastData().download((int*)idepth_.data, (uchar3*)rgb_.data, rays_->getRayCastParams());
+ idepth_.convertTo(depth_, CV_32FC1, 1.0f / 100.0f);
+ } else {
+ rays_->getRayCastData().download((int*)depth_.data, (uchar3*)rgb_.data, rays_->getRayCastParams());
+ }
}
return true;
}
--
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