Merge pull request #1825 from ev-mp/current

Rectify decimation filter/many-to-many operation mode
IntelRealSense · Jun 4, 2018 · 14a317e · 14a317e
2 parents 911ae9c + 58d89bc
commit 14a317e
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Showing 7 changed files with 938 additions and 894 deletions.
diff --git a/common/model-views.cpp b/common/model-views.cpp
@@ -2713,7 +2713,7 @@ namespace rs2
                     float(dev->algo_roi.max_x - dev->algo_roi.min_x),
                     float(dev->algo_roi.max_y - dev->algo_roi.min_y) };
 
-            r = r.normalize(_normalized_zoom.unnormalize(get_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect);
+            r = r.normalize(_normalized_zoom.unnormalize(get_original_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect);
 
             glColor3f(yellow.x, yellow.y, yellow.z);
             draw_rect(r, 2);
@@ -3016,10 +3016,10 @@ namespace rs2
         {
             for (auto&& s : viewer.streams)
             {
-                if(!s.second.dev) continue;
+                if (!s.second.dev) continue;
                 auto dev = s.second.dev;
 
-                if(s.second.original_profile.unique_id() == f.get_profile().unique_id())
+                if (s.second.original_profile.unique_id() == f.get_profile().unique_id())
                 {
                     if (dev->post_processing_enabled)
                     {
@@ -3051,20 +3051,33 @@ namespace rs2
                                 f = hole_filling->invoke(f);
                         }
 
-                        return f;
+                        break;
                     }
                 }
             }
         }
 
-        // Override the the first pixel in Depth->RGB map to be used as a mark when occlusion filter is active
-        if ((f.get_profile().stream_type() == RS2_STREAM_COLOR))
+        // Override the zero pixel in texture frame with black color for occlusion invalidation
+        // TODO - this is a temporal solution to be refactored from the app level into the core library
+        switch (stream_type)
+        {
+        case RS2_STREAM_COLOR:
         {
-            auto rgb_stream = const_cast<uint8_t*>(static_cast<const uint8_t*>(f.get_data()));
-            memset(rgb_stream, 0, 3); // Override the zero pixel with black color for occlusion marking
-            // Alternatively, enable the next two lines to render invalidation with magenta color for inspection
-            //rgb_stream[0] = rgb_stream[2] = 0xff; // Use magenta to highlight the occlusion areas
-            //rgb_stream[1] = 0;
+                auto rgb_stream = const_cast<uint8_t*>(static_cast<const uint8_t*>(f.get_data()));
+                memset(rgb_stream, 0, 3);
+                // Alternatively, enable the next two lines to render invalidation with magenta color for inspection
+                //rgb_stream[0] = rgb_stream[2] = 0xff; // Use magenta to highlight the occlusion areas
+                //rgb_stream[1] = 0;
+            }
+            break;
+            case RS2_STREAM_INFRARED:
+            {
+                auto ir_stream = const_cast<uint8_t*>(static_cast<const uint8_t*>(f.get_data()));
+                memset(ir_stream, 0, 2); // Override the first two bytes to cover Y8/Y16 formats
+            }
+            break;
+            default:
+                break;
         }
 
         return f;

diff --git a/common/model-views.h b/common/model-views.h
@@ -929,7 +929,7 @@ namespace rs2
         float3 target = { 0.0f, 0.0f, 0.0f };
         float3 up;
         bool fixed_up = true;
-        bool render_quads = false;
+        bool render_quads = true;
 
         float view[16];
         bool texture_wrapping_on = true;

diff --git a/common/rendering.h b/common/rendering.h
@@ -1060,6 +1060,8 @@ namespace rs2
                     if (auto colorized_frame = colorize->colorize(frame).as<video_frame>())
                     {
                         data = colorized_frame.get_data();
+                        // Override the first pixel in the colorized image for occlusion invalidation.
+                        memset((void*)data,0, colorized_frame.get_bytes_per_pixel());
                         glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB,
                                      colorized_frame.get_width(),
                                      colorized_frame.get_height(),

diff --git a/src/proc/colorizer.cpp b/src/proc/colorizer.cpp
@@ -196,7 +196,7 @@ namespace librealsense
             {
                 {
                     std::lock_guard<std::mutex> lock(_mutex);
-                    if (!_stream)
+                    if (!_stream || (f.get_profile().get() != _stream->get()))
                     {
                         _stream = std::make_shared<rs2::stream_profile>(f.get_profile().clone(RS2_STREAM_DEPTH, 0, RS2_FORMAT_RGB8));
                         environment::get_instance().get_extrinsics_graph().register_same_extrinsics(*_stream->get()->profile, *f.get_profile().get()->profile);