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Fix the 3d code #2181

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Fix the 3d code #2181

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14 changes: 9 additions & 5 deletions src/openpose/producer/spinnakerWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
#endif
#ifdef USE_FLIR_CAMERA
#include <Spinnaker.h>
#include <ImageProcessor.h>
#endif
#include <openpose/3d/cameraParameterReader.hpp>

Expand Down Expand Up @@ -151,8 +152,8 @@ namespace op
}
}

Spinnaker::ImagePtr spinnakerImagePtrToColor(const Spinnaker::ImagePtr &imagePtr)
{
//Spinnaker::ImagePtr spinnakerImagePtrToColor(const Spinnaker::ImagePtr &imagePtr)
//{
// Original image --> BGR uchar image
// Print image information
// Convert image to RGB
Expand Down Expand Up @@ -211,10 +212,10 @@ namespace op
// ~115, too slow
// return imagePtr->Convert(Spinnaker::PixelFormat_BGR8, Spinnaker::RIGOROUS);
// ~1.7 ms, slightly worse than HQ_LINEAR
return imagePtr->Convert(Spinnaker::PixelFormat_BGR8, Spinnaker::IPP);
//return imagePtr->Convert(Spinnaker::PixelFormat_BGR8, Spinnaker::IPP);
// ~30 ms, ideally best quality?
// return imagePtr->Convert(Spinnaker::PixelFormat_BGR8, Spinnaker::DIRECTIONAL_FILTER);
}
//}

/*
* This function converts between Spinnaker::ImagePtr container to cv::Mat container used in OpenCV.
Expand Down Expand Up @@ -399,7 +400,10 @@ namespace op
try
{
// Original image --> BGR uchar image
const auto imagePtrColor = spinnakerImagePtrToColor(imagePtr);
//const auto imagePtrColor = spinnakerImagePtrToColor(imagePtr);
Spinnaker::ImageProcessor imageProc;
Spinnaker::ImagePtr imagePtrStore = imageProc.Convert(imagePtr, Spinnaker::PixelFormatEnums::PixelFormat_BGR8);
const auto imagePtrColor = imagePtrStore;
// Spinnaker to cv::Mat
const auto cvMatDistorted = spinnakerWrapperToCvMat(imagePtrColor);
// const auto cvMatDistorted = spinnakerWrapperToCvMat(imagePtr);
Expand Down