From 876eafd3b14f6669d446f9782be335cba5319909 Mon Sep 17 00:00:00 2001
From: Aymeric DUJARDIN <aymeric.dujardin@stereolabs.com>
Date: Mon, 24 Feb 2020 10:21:57 +0100
Subject: [PATCH] Shorter sl::Mat cast function

---
 src/yolo_console_dll.cpp | 78 +++++++---------------------------------
 1 file changed, 12 insertions(+), 66 deletions(-)

diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 1eee1723..8f73d869 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -100,75 +100,19 @@ std::vector<bbox_t> get_3d_coordinates(std::vector<bbox_t> bbox_vect, cv::Mat xy
     return bbox3d_vect;
 }
 
+cv::Mat slMat2cvMat(sl::Mat &input) {
+    int cv_type = -1; // Mapping between MAT_TYPE and CV_TYPE
+    if(input.getDataType() ==
 #ifdef ZED_STEREO_2_COMPAT_MODE
-cv::Mat slMat2cvMat(sl::Mat &input) {
-    // Mapping between MAT_TYPE and CV_TYPE
-    int cv_type = -1;
-    switch (input.getDataType()) {
-    case sl::MAT_TYPE_32F_C1:
-        cv_type = CV_32FC1;
-        break;
-    case sl::MAT_TYPE_32F_C2:
-        cv_type = CV_32FC2;
-        break;
-    case sl::MAT_TYPE_32F_C3:
-        cv_type = CV_32FC3;
-        break;
-    case sl::MAT_TYPE_32F_C4:
-        cv_type = CV_32FC4;
-        break;
-    case sl::MAT_TYPE_8U_C1:
-        cv_type = CV_8UC1;
-        break;
-    case sl::MAT_TYPE_8U_C2:
-        cv_type = CV_8UC2;
-        break;
-    case sl::MAT_TYPE_8U_C3:
-        cv_type = CV_8UC3;
-        break;
-    case sl::MAT_TYPE_8U_C4:
-        cv_type = CV_8UC4;
-        break;
-    default:
-        break;
-    }
-    return cv::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(sl::MEM_CPU));
-}
+        sl::MAT_TYPE_32F_C4
 #else
-cv::Mat slMat2cvMat(sl::Mat &input) {
-    // Mapping between MAT_TYPE and CV_TYPE
-    int cv_type = -1;
-    switch (input.getDataType()) {
-    case sl::MAT_TYPE::F32_C1:
-        cv_type = CV_32FC1;
-        break;
-    case sl::MAT_TYPE::F32_C2:
-        cv_type = CV_32FC2;
-        break;
-    case sl::MAT_TYPE::F32_C3:
-        cv_type = CV_32FC3;
-        break;
-    case sl::MAT_TYPE::F32_C4:
+        sl::MAT_TYPE::F32_C4
+#endif
+        ) {
         cv_type = CV_32FC4;
-        break;
-    case sl::MAT_TYPE::U8_C1:
-        cv_type = CV_8UC1;
-        break;
-    case sl::MAT_TYPE::U8_C2:
-        cv_type = CV_8UC2;
-        break;
-    case sl::MAT_TYPE::U8_C3:
-        cv_type = CV_8UC3;
-        break;
-    case sl::MAT_TYPE::U8_C4:
-        cv_type = CV_8UC4;
-        break;
-    default:
-        break;
-    }
+    } else cv_type = CV_8UC4; // sl::Mat used are either RGBA images or XYZ (4C) point clouds
     return cv::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(sl::MEM::CPU));
 }
-#endif
 
 cv::Mat zed_capture_rgb(sl::Camera &zed) {
     sl::Mat left;
@@ -180,11 +124,13 @@ cv::Mat zed_capture_rgb(sl::Camera &zed) {
 
 cv::Mat zed_capture_3d(sl::Camera &zed) {
     sl::Mat cur_cloud;
+    zed.retrieveMeasure(cur_cloud, 
 #ifdef ZED_STEREO_2_COMPAT_MODE
-    zed.retrieveMeasure(cur_cloud, sl::MEASURE_XYZ);
+        sl::MEASURE_XYZ
 #else
-    zed.retrieveMeasure(cur_cloud, sl::MEASURE::XYZ);
+        sl::MEASURE::XYZ
 #endif
+        );
     return slMat2cvMat(cur_cloud).clone();
 }