PR #7075 from Eran: Small optimization in AC plus removal of two anno…

…ying repetitive messages in Viewer

src/algo/depth-to-rgb-calibration/k-to-dsm.cpp

@@ -238,28 +238,16 @@ rs2_dsm_params_double k_to_DSM::convert_new_k_to_DSM
 
     for (auto i = 0; i < new_vertices.size(); i++)
     {
-        new_vertices[i].x = new_vertices[i].x / new_vertices[i].z* sc_vertices[i].z;
-        new_vertices[i].y = new_vertices[i].y / new_vertices[i].z* sc_vertices[i].z;
-        new_vertices[i].z = new_vertices[i].z / new_vertices[i].z* sc_vertices[i].z;
+        new_vertices[i].x = new_vertices[i].x / new_vertices[i].z * sc_vertices[i].z;
+        new_vertices[i].y = new_vertices[i].y / new_vertices[i].z * sc_vertices[i].z;
+        new_vertices[i].z = new_vertices[i].z / new_vertices[i].z * sc_vertices[i].z;
 
         new_vertices[i].x *= -1;
         new_vertices[i].y *= -1;
     }
 
-    std::vector<double3> projed(new_vertices.size());
-    std::vector<double> xim_new(new_vertices.size());
-    std::vector<double> yim_new(new_vertices.size());
-
-    for (auto i = 0; i < new_vertices.size(); i++)
-    {
-        projed[i].x = new_vertices[i].x*old_k.fx + new_vertices[i].z*old_k.ppx;
-        projed[i].y = new_vertices[i].y*old_k.fy + new_vertices[i].z*old_k.ppy;
-        projed[i].z = new_vertices[i].z;
-
-        xim_new[i] = projed[i].x / projed[i].z;
-        yim_new[i] = projed[i].y / projed[i].z;
-    }
-    AC_LOG( DEBUG, "    new DSM params: " << AC_D_PREC << ac_data_cand <<"; vertices are changed" );
+    AC_LOG( DEBUG,
+            "    new DSM params: " << AC_D_PREC << ac_data_cand << "; vertices are changed" );
     new_dsm_regs = dsm_regs_cand;
     return ac_data_cand;
 }
@@ -715,7 +703,7 @@ std::vector<double2> k_to_DSM::convert_norm_vertices_to_los
 (
     algo_calibration_info const &regs,
     algo_calibration_registers const &dsm_regs,
-    std::vector<double3> vertices,
+    std::vector< double3 > const & vertices,
     convert_norm_vertices_to_los_data* data
 )
 {
@@ -835,8 +823,8 @@ std::vector<double2> k_to_DSM::convert_norm_vertices_to_los
     }
     for (auto i = 0; i < res.size(); i++)
     {
-        res[i].x = (dsm_x[i] + (double)2047) / (double)dsm_regs.EXTLdsmXscale - (double)dsm_regs.EXTLdsmXoffset;
-        res[i].y = (dsm_y[i] + (double)2047) / (double)dsm_regs.EXTLdsmYscale - (double)dsm_regs.EXTLdsmYoffset;
+        res[i].x = (dsm_x[i] + 2047.) / (double)dsm_regs.EXTLdsmXscale - (double)dsm_regs.EXTLdsmXoffset;
+        res[i].y = (dsm_y[i] + 2047.) / (double)dsm_regs.EXTLdsmYscale - (double)dsm_regs.EXTLdsmYoffset;
     }
     return res;
 }
@@ -852,14 +840,14 @@ double3 k_to_DSM::laser_incident_direction(double2 angle_rad)
     return laser_incident_direction;
 }
 
-std::vector<double3> k_to_DSM::transform_to_direction(std::vector<double3> vec)
+std::vector< double3 > k_to_DSM::transform_to_direction( std::vector< double3 > const & vec )
 {
-   std::vector<double3> res(vec.size());
-
-   for (auto i = 0; i < vec.size(); i++)
-   {
-       auto norm = sqrt(vec[i].x*vec[i].x + vec[i].y*vec[i].y + vec[i].z*vec[i].z);
-       res[i] = { vec[i].x / norm, vec[i].y / norm, vec[i].z / norm };
-   }
-   return res;
+    std::vector< double3 > res( vec.size() );
+
+    for( auto i = 0; i < vec.size(); i++ )
+    {
+        auto norm = sqrt( vec[i].x * vec[i].x + vec[i].y * vec[i].y + vec[i].z * vec[i].z );
+        res[i] = { vec[i].x / norm, vec[i].y / norm, vec[i].z / norm };
+    }
+    return res;
 }

src/algo/depth-to-rgb-calibration/k-to-dsm.h

@@ -244,11 +244,11 @@ namespace depth_to_rgb_calibration {
 
         std::vector<double2> convert_norm_vertices_to_los(const algo_calibration_info& regs, 
             const algo_calibration_registers& algo_calibration_registers, 
-            std::vector<double3> vertices, 
+            std::vector<double3> const & vertices, 
             convert_norm_vertices_to_los_data* data = nullptr);
 
         double3 laser_incident_direction(double2 angle_rad);
-        std::vector<double3> transform_to_direction(std::vector<double3>);
+        std::vector< double3 > transform_to_direction( std::vector< double3 > const & );
 
         pre_process_data _pre_process_data;
 

src/frame-archive.h

@@ -221,7 +221,7 @@ namespace librealsense
         {
             if (pending_frames > 0)
             {
-                LOG_INFO("All frames from stream 0x"
+                LOG_DEBUG("All frames from stream 0x"
                     << std::hex << this << " are now released by the user" << std::dec);
             }
         }

src/types.cpp

@@ -75,7 +75,7 @@ namespace librealsense
         rs2_exception_type exception_type) noexcept
         : librealsense_exception(msg, exception_type)
     {
-        LOG_WARNING(msg);
+        LOG_DEBUG("recoverable_exception: " << msg);
     }
 
     bool file_exists(const char* filename)