Fixed KinFu getCloud() at empty volume #2410
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alalek
reviewed
Jan 16, 2020
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| UMat atomicCtr(1, 1, CV_32S, Scalar(0)); | ||
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| if(kfill.empty()) |
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kfill.empty()
Put check right after .create()call.
UMat creation between them looks strange.
modules/rgbd/src/tsdf.cpp
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| throw std::runtime_error("Failed to create kernel: " + errorStr); | ||
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| // mem size to keep pts (and normals optionally) for all work-items in a group | ||
| lsz = localSize[0]*localSize[1]*localSize[2]*elemSize; |
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It is better to create new one "local" variable instead of reusing that.
alalek
approved these changes
Jan 18, 2020
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resolves #2404
This pullrequest changes
OCL version of TSDF's
fetchPointsNormals()fixed for the case when there's no data in the volume