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Commit f42db2fc authored by Nicolas Pope's avatar Nicolas Pope
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Minor tidy

parent 072a8a8b
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1 merge request!190Implements #263 reconstruction scaling
Pipeline #16917 passed
...@@ -216,8 +216,6 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann ...@@ -216,8 +216,6 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
temp_.createTexture<float>(Channel::Contribution); temp_.createTexture<float>(Channel::Contribution);
//float scale = value("scale",1.0f);
for (size_t i=0; i < scene_->frames.size(); ++i) { for (size_t i=0; i < scene_->frames.size(); ++i) {
auto &f = scene_->frames[i]; auto &f = scene_->frames[i];
auto *s = scene_->sources[i]; auto *s = scene_->sources[i];
...@@ -230,7 +228,6 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann ...@@ -230,7 +228,6 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA); cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
} }
//Eigen::Affine3f sm = Eigen::Affine3f(Eigen::Scaling(scale));
auto transform = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse() * t.cast<float>().inverse()) * params_.m_viewMatrixInverse; auto transform = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse() * t.cast<float>().inverse()) * params_.m_viewMatrixInverse;
auto transformR = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse()).getFloat3x3(); auto transformR = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse()).getFloat3x3();
...@@ -331,8 +328,6 @@ void Triangular::_mesh(ftl::rgbd::Frame &out, ftl::rgbd::Source *src, const Eige ...@@ -331,8 +328,6 @@ void Triangular::_mesh(ftl::rgbd::Frame &out, ftl::rgbd::Source *src, const Eige
temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream); temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
} }
//float scale = value("scale",1.0f);
// For each source depth map // For each source depth map
for (size_t i=0; i < scene_->frames.size(); ++i) { for (size_t i=0; i < scene_->frames.size(); ++i) {
auto &f = scene_->frames[i]; auto &f = scene_->frames[i];
...@@ -343,7 +338,6 @@ void Triangular::_mesh(ftl::rgbd::Frame &out, ftl::rgbd::Source *src, const Eige ...@@ -343,7 +338,6 @@ void Triangular::_mesh(ftl::rgbd::Frame &out, ftl::rgbd::Source *src, const Eige
continue; continue;
} }
//Eigen::Affine3f sm = Eigen::Affine3f(Eigen::Scaling(scale));
auto pose = MatrixConversion::toCUDA(t.cast<float>() * s->getPose().cast<float>()); auto pose = MatrixConversion::toCUDA(t.cast<float>() * s->getPose().cast<float>());
// Calculate and save virtual view screen position of each source pixel // Calculate and save virtual view screen position of each source pixel
......
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