50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "api/processor/points_processor.h"
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#include <opencv2/calib3d/calib3d.hpp>
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#include <glog/logging.h>
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#include <utility>
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MYNTEYE_BEGIN_NAMESPACE
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PointsProcessor::PointsProcessor(cv::Mat Q) : Processor(), Q_(std::move(Q)) {
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VLOG(2) << __func__;
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}
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PointsProcessor::~PointsProcessor() {
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VLOG(2) << __func__;
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}
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std::string PointsProcessor::Name() {
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return NAME;
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}
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Object *PointsProcessor::OnCreateOutput() {
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return new ObjMat();
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}
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bool PointsProcessor::OnProcess(
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Object *const in, Object *const out, Processor *const parent) {
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UNUSED(parent)
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const ObjMat *input = Object::Cast<ObjMat>(in);
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ObjMat *output = Object::Cast<ObjMat>(out);
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cv::reprojectImageTo3D(input->value, output->value, Q_, true);
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return true;
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}
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MYNTEYE_END_NAMESPACE
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