Stream grayscale renders

Author: PeterBowman

programs/sceneReconstruction/DynaFu.cpp

@@ -127,12 +127,13 @@ class DynaFu : public KinectFusionAdapter
         handle->reset();
     }
 
-    void render(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) const override
+    void render(yarp::sig::ImageOf<yarp::sig::PixelMono> & image) const override
     {
         cv::UMat umat;
         handle->render(umat);
-        cv::Mat mat = umat.getMat(cv::ACCESS_RW);
-        image = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(mat);
+        cv::Mat mat = umat.getMat(cv::ACCESS_FAST); // no memcpy
+        const auto & temp = yarp::cv::fromCvMat<yarp::sig::PixelBgra>(mat); // no conversion
+        image.copy(temp); // bgra to grayscale (single step convert+assign)
     }
 
 private:

programs/sceneReconstruction/KinFu.cpp

@@ -136,12 +136,13 @@ class KinFu : public KinectFusionAdapter
         handle->reset();
     }
 
-    void render(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) const override
+    void render(yarp::sig::ImageOf<yarp::sig::PixelMono> & image) const override
     {
         cv::UMat umat;
         handle->render(umat);
-        cv::Mat mat = umat.getMat(cv::ACCESS_RW);
-        image = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(mat);
+        cv::Mat mat = umat.getMat(cv::ACCESS_FAST); // no memcpy
+        const auto & temp = yarp::cv::fromCvMat<yarp::sig::PixelBgra>(mat); // no conversion
+        image.copy(temp); // bgra to grayscale (single step convert+assign)
     }
 
 private:

programs/sceneReconstruction/KinectFusionAdapter.hpp

@@ -29,7 +29,7 @@ class KinectFusionAdapter
 
     virtual void reset() = 0;
 
-    virtual void render(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) const = 0;
+    virtual void render(yarp::sig::ImageOf<yarp::sig::PixelMono> & image) const = 0;
 };
 
 std::unique_ptr<KinectFusionAdapter> makeKinFu(const yarp::os::Searchable & config, const yarp::sig::IntrinsicParams & intrinsic, int width, int height);

programs/sceneReconstruction/SceneReconstruction.hpp

@@ -62,7 +62,7 @@ class SceneReconstruction : public yarp::os::RFModule,
     yarp::dev::PolyDriver cameraDriver;
     yarp::dev::IRGBDSensor * iRGBDSensor;
     yarp::os::RpcServer rpcServer;
-    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb>> renderPort;
+    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono>> renderPort;
 };
 
 } // namespace roboticslab