refactor(calib models): add new calib model processer

src/mynteye/api/processor/depth_processor_ocv.cc

@@ -0,0 +1,54 @@
+// 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.
+#include "mynteye/api/processor/depth_processor_ocv.h"
+
+#include <utility>
+
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+const char DepthProcessorOCV::NAME[] = "DepthProcessorOCV";
+
+DepthProcessorOCV::DepthProcessorOCV(std::int32_t proc_period)
+    : Processor(std::move(proc_period)) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+}
+
+DepthProcessorOCV::~DepthProcessorOCV() {
+  VLOG(2) << __func__;
+}
+
+std::string DepthProcessorOCV::Name() {
+  return NAME;
+}
+
+Object *DepthProcessorOCV::OnCreateOutput() {
+  return new ObjMat();
+}
+
+bool DepthProcessorOCV::OnProcess(
+    Object *const in, Object *const out, Processor *const parent) {
+  MYNTEYE_UNUSED(parent)
+  const ObjMat *input = Object::Cast<ObjMat>(in);
+  ObjMat *output = Object::Cast<ObjMat>(out);
+  cv::Mat channels[3 /*input->value.channels()*/];
+  cv::split(input->value, channels);
+  channels[2].convertTo(output->value, CV_16UC1);
+  output->id = input->id;
+  output->data = input->data;
+  return true;
+}
+
+MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/depth_processor_ocv.h

@@ -0,0 +1,41 @@
+// 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_DEPTH_PROCESSOR_OCV_H_
+#define MYNTEYE_API_PROCESSOR_DEPTH_PROCESSOR_OCV_H_
+#pragma once
+
+#include <string>
+
+#include "mynteye/api/processor.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class DepthProcessorOCV : public Processor {
+ public:
+  static const char NAME[];
+
+  explicit DepthProcessorOCV(std::int32_t proc_period = 0);
+  virtual ~DepthProcessorOCV();
+
+  std::string Name() override;
+
+ protected:
+  Object *OnCreateOutput() override;
+  bool OnProcess(
+      Object *const in, Object *const out, Processor *const parent) override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_API_PROCESSOR_DEPTH_PROCESSOR_OCV_H_

src/mynteye/api/processor/points_processor_ocv.cc

@@ -0,0 +1,54 @@
+// 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.
+#include "mynteye/api/processor/points_processor_ocv.h"
+
+#include <utility>
+
+#include <opencv2/calib3d/calib3d.hpp>
+
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+const char PointsProcessorOCV::NAME[] = "PointsProcessorOCV";
+
+PointsProcessorOCV::PointsProcessorOCV(cv::Mat Q, std::int32_t proc_period)
+    : Processor(std::move(proc_period)), Q_(std::move(Q)) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+}
+
+PointsProcessorOCV::~PointsProcessorOCV() {
+  VLOG(2) << __func__;
+}
+
+std::string PointsProcessorOCV::Name() {
+  return NAME;
+}
+
+Object *PointsProcessorOCV::OnCreateOutput() {
+  return new ObjMat();
+}
+
+bool PointsProcessorOCV::OnProcess(
+  Object *const in, Object *const out, Processor *const parent) {
+  MYNTEYE_UNUSED(parent)
+  const ObjMat *input = Object::Cast<ObjMat>(in);
+  ObjMat *output = Object::Cast<ObjMat>(out);
+  cv::reprojectImageTo3D(input->value, output->value, Q_, true);
+  output->id = input->id;
+  output->data = input->data;
+  return true;
+}
+
+MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/points_processor_ocv.h

@@ -0,0 +1,46 @@
+// 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_POINTS_PROCESSOR_OCV_H_
+#define MYNTEYE_API_PROCESSOR_POINTS_PROCESSOR_OCV_H_
+#pragma once
+
+#include <string>
+
+#include <opencv2/core/core.hpp>
+
+#include "mynteye/api/processor.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class PointsProcessorOCV : public Processor {
+ public:
+  static const char NAME[];
+
+  explicit PointsProcessorOCV(cv::Mat Q, std::int32_t proc_period = 0);
+  virtual ~PointsProcessorOCV();
+
+  std::string Name() override;
+
+ protected:
+  Object *OnCreateOutput() override;
+  bool OnProcess(
+      Object *const in, Object *const out, Processor *const parent) override;
+
+ private:
+  cv::Mat Q_;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_API_PROCESSOR_POINTS_PROCESSOR_OCV_H_