Adding Export to PLY to API #928
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… second call to calculate
zivsha
previously requested changes
Dec 20, 2017
| @@ -416,6 +419,15 @@ namespace rs2 | |||
| return (const vertex*)res; | |||
| } | |||
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| void export_to_ply(const std::string& fname, video_frame texture) | |||
src/archive.cpp
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| int y = std::min(std::max(int(v*h + .5f), 0), h - 1); | ||
| int idx = x * ptr->get_bpp() / 8 + y * ptr->get_stride(); | ||
| const auto texture_data = reinterpret_cast<const uint8_t*>(ptr->get_frame_data()); | ||
| return std::tuple<uint8_t, uint8_t, uint8_t>( |
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Consider using std::make_tuple(...)
src/archive.cpp
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| { | ||
| const auto vertices = get_vertices(); | ||
| const auto texcoords = get_texture_coordinates(); | ||
| //const auto tex = reinterpret_cast<const uint8_t*>(texture.get_data()); |
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And in the rest of the file as well
src/archive.cpp
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| // LOG_INFO("Vertex count: " << get_vertex_count()); | ||
| assert(get_vertex_count()); | ||
| for (size_t i = 0; i < get_vertex_count(); ++i) | ||
| if (std::abs(vertices[i].x) >= 1e-6 || std::abs(vertices[i].y) >= 1e-6 || std::abs(vertices[i].z) >= 1e-6) |
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Please extract magic number (1e-9) to some constant with meaningful name
src/archive.cpp
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| { | ||
| //out.write(reinterpret_cast<const char*>(&(new_texcoords[i].u)), sizeof(float)); | ||
| //out.write(reinterpret_cast<const char*>(&(new_texcoords[i].v)), sizeof(float)); | ||
| out.write(reinterpret_cast<const char*>(&(std::get<0>(new_tex[i]))), sizeof(uint8_t)); |
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Consider using std::tie(x,y,z)
src/proc/pointcloud.h
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| @@ -16,17 +16,17 @@ namespace librealsense | |||
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| const rs2_intrinsics* _depth_intrinsics_ptr; | |||
| const float* _depth_units_ptr; | |||
| const rs2_intrinsics* _mapped_intrinsics_ptr; | |||
| const rs2_intrinsics* _other_intrinsics_ptr; | |||
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Consider using librealsense::optional_value instead of a pointer and value type. See align for reference
| ## Copyright(c) 2017 Intel Corporation. All Rights Reserved. | ||
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| ##################################################### | ||
| ## Align Depth to Color ## |
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Change the title to match example name
| # Tell pointcloud object to map to this color frame | ||
| pc.map_to(color); | ||
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| export_to_ply("1.ply", color) |
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Is this a free function? Shouldn't it be points.export_to_ply(...)?
zivsha
reviewed
Dec 21, 2017
| try: | ||
| while True: | ||
| # Wait for the next set of frames from the camera | ||
| frames = pipe.wait_for_frames(); |
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and for the rest of the file
zivsha
reviewed
Dec 21, 2017
| export_to_ply("1.ply", color) | ||
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| finally: | ||
| pipeline.stop() |
… type, python example file fixed
dorodnic
approved these changes
Dec 24, 2017
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Addressing #862
export_to_plyto API.export_to_plyto python wrapper.export_to_ply_example.py.pointcloud, which was causing texture coordinates be all zeros before callingcalculatefor the second time, now coordinates are valid after the first call (possibly related to Pointcloud : Texture coordinates are always {0.0, 0.0} #900).