# HG changeset patch
# User Eleni Maria Stea <eleni@mutantstargoat.com>
# Date 1383517754 -7200
# Node ID 6f5f53d0d16624ddabdac3f11f6120bdfd900298
# Parent  bd1b0385a10b84c932f492300359354794f34a17
use 8bit mat to save depth frames to avoid convertions during inpaint

diff -r bd1b0385a10b -r 6f5f53d0d166 src/frame.cc
--- a/src/frame.cc	Sun Nov 03 22:07:00 2013 +0200
+++ b/src/frame.cc	Mon Nov 04 00:29:14 2013 +0200
@@ -1,5 +1,7 @@
 #include <GL/gl.h>
 #include <cxcore.h>
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include <highgui.h> //TODO remove
 #include <cv.h> //TODO remove
 
@@ -19,7 +21,7 @@
 Frame::Frame()
 {
     video_buf = cv::Mat::zeros(KINECT_VIDEO_HEIGHT, KINECT_VIDEO_WIDTH, CV_8UC3);
-    depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_16UC1);
+    depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC1);
 
 	tex_setup();
 }
@@ -83,20 +85,19 @@
 
 	/* freenect depth data to cv mat: */
 	uint16_t* src = (uint16_t*)depth;
-	uint16_t* dest = (uint16_t*)frame->depth_buf.data;
+	uint8_t* dest = (uint8_t*)frame->depth_buf.data;
 
 	for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) {
 		uint16_t val = *src;
 		if(val >= 2047) {
 			val = 0;
 		}
-		val = val << 5;
-		*dest = val;
+		*dest = val >> 3;
 		src++;
 		dest++;
 	}
 
-
+	cv::medianBlur(frame->depth_buf, frame->depth_buf, 5);
 	cv::imshow("foo", frame->depth_buf);
 	cv::waitKey(100);
 	has_depth = true;