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distCoeffs removed from warpFrame() signature

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This commit is contained in:
Rostislav Vasilikhin 2022-06-27 01:23:07 +02:00
parent d56e8f053f
commit 162bd5be4c
2 changed files with 6 additions and 7 deletions
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3
modules/3d/include/opencv2/3d/depth.hpp
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@ -132,12 +132,11 @@ CV_EXPORTS_W void rescaleDepth(InputArray in, int type, OutputArray out, double
* @param mask The mask of used pixels (of CV_8UC1), it can be empty
* @param Rt The transformation that will be applied to the 3d points computed from the depth
* @param cameraMatrix Camera matrix
* @param distCoeff Distortion coefficients
* @param warpedImage The warped image.
* @param warpedDepth The warped depth.
* @param warpedMask The warped mask.
*/
CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix, InputArray distCoeff,
CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix,
OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray());
enum RgbdPlaneMethod

10
modules/3d/src/rgbd/odometry.cpp
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@ -365,7 +365,7 @@ bool Odometry::compute(InputArray srcDepthFrame, InputArray srcRGBFrame,
template<class ImageElemType>
static void
warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff,
const Mat& Rt, const Mat& cameraMatrix,
OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
{
//TODO: take into account that image can be empty
@ -394,7 +394,7 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
Mat transformedCloud;
perspectiveTransform(cloud3, transformedCloud, Rt);
projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix,
distCoeff, points2d);
Mat::zeros(1, 5, CV_64FC1), points2d);
Mat image = _image.getMat();
Size sz = _image.size();
@ -437,14 +437,14 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
void warpFrame(InputArray image, InputArray depth, InputArray mask,
InputArray Rt, InputArray cameraMatrix, InputArray distCoeff,
InputArray Rt, InputArray cameraMatrix,
OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
{
if (image.type() == CV_8UC1)
warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(),
warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
warpedImage, warpedDepth, warpedMask);
else if (image.type() == CV_8UC3)
warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(),
warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
warpedImage, warpedDepth, warpedMask);
else
CV_Error(Error::StsBadArg, "Image has to be type of CV_8UC1 or CV_8UC3");