fix pointcloud map_to#2371
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ev-mp
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ev-mp
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Some minor suggestions inline.
I would really appreciate to have an extra-session before merge - to go through the core changes
src/proc/pointcloud.cpp
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| if (_other_stream != nullptr && other.get_profile().as<rs2::video_stream_profile>() == *_other_stream.get()) | ||
| if (_stream_filter != _prev_stream_filter) | ||
| _other_stream = nullptr; | ||
| _prev_stream_filter = _stream_filter; |
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Should be encapsulated with the previous line under the "if.." statement
src/proc/pointcloud.cpp
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| _other_stream = nullptr; | ||
| _prev_stream_filter = _stream_filter; | ||
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| if (_extrinsics.has_value() && _other_stream != nullptr && other.get_profile().as<rs2::video_stream_profile>() == *_other_stream.get()) |
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Using "(!_extrinsics.has_value() || .." would be more readable, i.e. maintainable
src/proc/pointcloud.cpp
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| if (_extrinsics.has_value() && _other_stream != nullptr && other.get_profile().as<rs2::video_stream_profile>() == *_other_stream.get()) | ||
| return; | ||
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| _other_stream = nullptr; |
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The "if" in the next line is redundant now, and should be removed to make it straight-forward: i.e:
_other_stream = <override_value>
| { | ||
| _stream_filter = RS2_STREAM_DEPTH; | ||
| _stream_format_filter = RS2_FORMAT_Z16; | ||
| _stream_filter.stream = RS2_STREAM_DEPTH; |
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Better to be move to initialization list, so if one day one other class member become dependent on this struct, the initialization order will be preserved, or at least compiler warning will be generated
src/proc/synthetic-stream.cpp
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| @@ -217,16 +214,7 @@ namespace librealsense | |||
| rs2_stream stream = profile.stream_type(); | |||
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Those three lines seem to be redundant after refactoring
src/proc/synthetic-stream.h
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| return true; | ||
| } | ||
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| bool operator!=(const stream_filter& other) |
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Can the == and ~= operator be swapped, i.e to implement != by terms of == ?
The (!(!(something)) is really counter-intuitive and hard to maintain
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This PR fixing an issue in the pointcloud's "map_to" API