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This commit is contained in:
Osenberg-Y 2018-08-13 18:49:59 +08:00
parent 23e28e20a6
commit 94fd56a65d
1 changed files with 23 additions and 24 deletions
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47
src/api/processor/points_processor.cc
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@ -46,37 +46,36 @@ bool PointsProcessor::OnProcess(
const ObjMat *input = Object::Cast<ObjMat>(in); const ObjMat *input = Object::Cast<ObjMat>(in);
ObjMat *output = Object::Cast<ObjMat>(out); ObjMat *output = Object::Cast<ObjMat>(out);
cv::Mat disparity = input->value; cv::Mat disparity = input->value;
output->value.create(disparity.size(), CV_MAKETYPE(CV_32FC3, 3)); output->value.create(disparity.size(), CV_MAKETYPE(CV_32FC3, 3));
cv::Mat _3dImage = output->value; cv::Mat _3dImage = output->value;
const float bigZ = 10000.f; const float bigZ = 10000.f;
cv::Matx44d Q; cv::Matx44d Q;
Q_.convertTo(Q, CV_64F); Q_.convertTo(Q, CV_64F);
int x, cols = disparity.cols; int x, cols = disparity.cols;
CV_Assert(cols >= 0); CV_Assert(cols >= 0);
double minDisparity = FLT_MAX; double minDisparity = FLT_MAX;
cv::minMaxIdx(disparity, &minDisparity, 0, 0, 0); cv::minMaxIdx(disparity, &minDisparity, 0, 0, 0);
for (int y = 0; y < disparity.rows; y++) { for (int y = 0; y < disparity.rows; y++) {
float *sptr = disparity.ptr<float>(y); float *sptr = disparity.ptr<float>(y);
cv::Vec3f *dptr = _3dImage.ptr<cv::Vec3f>(y); cv::Vec3f *dptr = _3dImage.ptr<cv::Vec3f>(y);
for( x = 0; x < cols; x++) for (x = 0; x < cols; x++) {
{ double d = sptr[x];
double d = sptr[x]; cv::Vec4d homg_pt = Q * cv::Vec4d(x, y, d, 1.0);
cv::Vec4d homg_pt = Q*cv::Vec4d(x, y, d, 1.0); dptr[x] = cv::Vec3d(homg_pt.val);
dptr[x] = cv::Vec3d(homg_pt.val); dptr[x] /= homg_pt[3];
dptr[x] /= homg_pt[3];
if( fabs(d-minDisparity) <= FLT_EPSILON ) { if (fabs(d - minDisparity) <= FLT_EPSILON) {
dptr[x][2] = bigZ; dptr[x][2] = bigZ;
} }
} }
} }
return true; return true;
} }