depth_densify_fast.cc

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#include "depth_densify_fast.h"
#include "../common.h"
#include <vector>
#include <algorithm>

namespace tlz {


void depth_densify_fast::densify(const std::vector<sample>& samples, cv::Mat_<real>& out, cv::Mat_<uchar>& out_mask) {
    const real scaledown = 0.3;
    cv::Size scaled_size(scaledown * texture_width, scaledown * texture_height);
    
    cv::Mat_<real> scaled_out(scaled_size);
    scaled_out.setTo(0.0);

    for(const sample& samp : samples) {
        int scaled_x = scaledown * samp.color_coordinates[0];
        int scaled_y = scaledown * samp.color_coordinates[1];
        if(scaled_x < 0 || scaled_x >= scaled_size.width || scaled_y < 0 || scaled_y >= scaled_size.height) continue;
        
        real new_d = samp.color_depth;
        real& d = scaled_out(scaled_y, scaled_x);
        if(d == 0.0 || new_d < d) d = new_d;
    }
    
    cv::resize(scaled_out, out, cv::Size(texture_width, texture_height), 0.0, 0.0, cv::INTER_NEAREST);
    out_mask = (out != 0.0);
}

}