From 94745289725707455958bab803fa0651d10b3d51 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Wed, 9 Jan 2019 11:03:13 +0800
Subject: [PATCH] refactor(calib models): delete new unused things

---
 src/mynteye/api/processor/depth_processor.cc  | 14 +++++++-------
 src/mynteye/api/processor/points_processor.cc | 14 ++------------
 src/mynteye/api/processor/points_processor.h  |  2 +-
 src/mynteye/api/synthetic.cc                  |  2 +-
 4 files changed, 11 insertions(+), 21 deletions(-)

diff --git a/src/mynteye/api/processor/depth_processor.cc b/src/mynteye/api/processor/depth_processor.cc
index aaaf610..e9ceea6 100644
--- a/src/mynteye/api/processor/depth_processor.cc
+++ b/src/mynteye/api/processor/depth_processor.cc
@@ -41,13 +41,13 @@ Object *DepthProcessor::OnCreateOutput() {
 bool DepthProcessor::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;
+  // 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;
 }
 
diff --git a/src/mynteye/api/processor/points_processor.cc b/src/mynteye/api/processor/points_processor.cc
index b82dd32..81102d5 100644
--- a/src/mynteye/api/processor/points_processor.cc
+++ b/src/mynteye/api/processor/points_processor.cc
@@ -23,8 +23,8 @@ MYNTEYE_BEGIN_NAMESPACE
 
 const char PointsProcessor::NAME[] = "PointsProcessor";
 
-PointsProcessor::PointsProcessor(cv::Mat Q, std::int32_t proc_period)
-    : Processor(std::move(proc_period)), Q_(std::move(Q)) {
+PointsProcessor::PointsProcessor(std::int32_t proc_period)
+    : Processor(std::move(proc_period)) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
 }
 
@@ -42,16 +42,6 @@ Object *PointsProcessor::OnCreateOutput() {
 
 bool PointsProcessor::OnProcess(
   Object *const in, Object *const out, Processor *const parent) {
-#ifdef WITH_CAM_MODELS
-
-#else
-  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;
-#endif
   return true;
 }
 
diff --git a/src/mynteye/api/processor/points_processor.h b/src/mynteye/api/processor/points_processor.h
index e571091..5ca43f3 100644
--- a/src/mynteye/api/processor/points_processor.h
+++ b/src/mynteye/api/processor/points_processor.h
@@ -27,7 +27,7 @@ class PointsProcessor : public Processor {
  public:
   static const char NAME[];
 
-  explicit PointsProcessor(cv::Mat Q, std::int32_t proc_period = 0);
+  explicit PointsProcessor(std::int32_t proc_period = 0);
   virtual ~PointsProcessor();
 
   std::string Name() override;
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index a951511..f2a3232 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -484,7 +484,7 @@ void Synthetic::InitProcessors() {
     points_processor = points_processor_pin;
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
     auto &&points_processor_kan = std::make_shared<PointsProcessor>(
-        rectify_processor->Q, POINTS_PROC_PERIOD);
+        POINTS_PROC_PERIOD);
     points_processor = points_processor_kan;
   } else {
     LOG(ERROR) << "Unknow calib model type in device: "