#ifndef MYNTEYE_RECTIFY_PROCESSOR_H_ // NOLINT #define MYNTEYE_RECTIFY_PROCESSOR_H_ #pragma once #include <opencv2/core/core.hpp> #include <memory> #include <string> #include "api/processor/processor.h" #include "mynteye/types.h" MYNTEYE_BEGIN_NAMESPACE class Device; class RectifyProcessor : public Processor { public: static constexpr auto &&NAME = "RectifyProcessor"; explicit RectifyProcessor(std::shared_ptr<Device> device); virtual ~RectifyProcessor(); std::string Name() override; protected: Object *OnCreateOutput() override; void OnProcess( Object *const in, Object *const out, Processor *const parent) override; private: void InitParams( Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right); cv::Mat R1, P1, R2, P2, Q; cv::Mat map11, map12, map21, map22; }; MYNTEYE_END_NAMESPACE #endif // MYNTEYE_RECTIFY_PROCESSOR_H_ NOLINT