MYNT-EYE-S-SDK/src/mynteye/api/processor/rectify_processor_ocv.h

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_API_PROCESSOR_RECTIFY_PROCESSOR_OCV_H_
#define MYNTEYE_API_PROCESSOR_RECTIFY_PROCESSOR_OCV_H_
#pragma once
#include <memory>
#include <string>
#include <opencv2/core/core.hpp>
#include "mynteye/types.h"
#include "mynteye/api/processor.h"
MYNTEYE_BEGIN_NAMESPACE
class Device;
class RectifyProcessorOCV : public Processor {
public:
static const char NAME[];
RectifyProcessorOCV(
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr,
std::int32_t proc_period = 0);
virtual ~RectifyProcessorOCV();
std::string Name() override;
void ReloadImageParams(
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr);
cv::Mat R1, P1, R2, P2, Q;
cv::Mat map11, map12, map21, map22;
protected:
Object *OnCreateOutput() override;
bool OnProcess(
Object *const in, Object *const out, Processor *const parent) override;
private:
void InitParams(IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
CalibrationModel calib_model;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_API_PROCESSOR_RECTIFY_PROCESSOR_OCV_H_