feat:3D multi dot

src/globalhelper.h

@@ -7,6 +7,7 @@
 
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
+#include <algorithm>
 
 class GlobalHelper {
 public:
@@ -17,7 +18,7 @@ public:
     }
 
     static void transToMultiMatrix(const cv::Mat& raw_data, float min_threshold,
-        float max_range, cv::Size display_res, cv::Mat& out_image) {
+        float max_range, cv::Size display_res, cv::Mat& out_matrix) {
         CV_Assert(raw_data.type() == CV_32F);
 
         cv::Mat raw = raw_data.clone();
@@ -29,7 +30,8 @@ public:
             cv::GaussianBlur(raw, raw, cv::Size(3, 3), 0.8, 0.8, cv::BORDER_DEFAULT);
         }
 
-        cv::Mat norm_data = raw / max_range;
+        const float safe_range = std::max(max_range, 1e-6f);
+        cv::Mat norm_data = raw / safe_range;
         cv::min(norm_data, 1.0f, norm_data);
         cv::max(norm_data, 0.0f, norm_data);
 
@@ -40,10 +42,11 @@ public:
 
         cv::GaussianBlur(smoothed, smoothed, cv::Size(31, 31), 0.0, 0.0, cv::BORDER_DEFAULT);
 
-        cv::transpose(smoothed, out_image);
+        smoothed *= safe_range;
+        out_matrix = smoothed;
     }
 private:
     GlobalHelper() {}
 };
 
-#endif //TACTILEIPC3D_GLOBALHELPER_H
+#endif //TACTILEIPC3D_GLOBALHELPER_H