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distCoeffs removed from warpFrame() signature
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@ -132,12 +132,11 @@ CV_EXPORTS_W void rescaleDepth(InputArray in, int type, OutputArray out, double
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* @param mask The mask of used pixels (of CV_8UC1), it can be empty
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* @param mask The mask of used pixels (of CV_8UC1), it can be empty
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* @param Rt The transformation that will be applied to the 3d points computed from the depth
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* @param Rt The transformation that will be applied to the 3d points computed from the depth
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* @param cameraMatrix Camera matrix
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* @param cameraMatrix Camera matrix
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* @param distCoeff Distortion coefficients
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* @param warpedImage The warped image.
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* @param warpedImage The warped image.
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* @param warpedDepth The warped depth.
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* @param warpedDepth The warped depth.
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* @param warpedMask The warped mask.
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* @param warpedMask The warped mask.
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*/
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*/
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CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix, InputArray distCoeff,
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CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix,
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OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray());
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OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray());
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enum RgbdPlaneMethod
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enum RgbdPlaneMethod
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@ -365,7 +365,7 @@ bool Odometry::compute(InputArray srcDepthFrame, InputArray srcRGBFrame,
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template<class ImageElemType>
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template<class ImageElemType>
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static void
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static void
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warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
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warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
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const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff,
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const Mat& Rt, const Mat& cameraMatrix,
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OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
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OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
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{
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{
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//TODO: take into account that image can be empty
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//TODO: take into account that image can be empty
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@ -394,7 +394,7 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
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Mat transformedCloud;
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Mat transformedCloud;
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perspectiveTransform(cloud3, transformedCloud, Rt);
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perspectiveTransform(cloud3, transformedCloud, Rt);
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projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix,
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projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix,
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distCoeff, points2d);
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Mat::zeros(1, 5, CV_64FC1), points2d);
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Mat image = _image.getMat();
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Mat image = _image.getMat();
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Size sz = _image.size();
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Size sz = _image.size();
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@ -437,14 +437,14 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
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void warpFrame(InputArray image, InputArray depth, InputArray mask,
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void warpFrame(InputArray image, InputArray depth, InputArray mask,
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InputArray Rt, InputArray cameraMatrix, InputArray distCoeff,
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InputArray Rt, InputArray cameraMatrix,
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OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
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OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
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{
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{
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if (image.type() == CV_8UC1)
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if (image.type() == CV_8UC1)
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warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(),
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warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
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warpedImage, warpedDepth, warpedMask);
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warpedImage, warpedDepth, warpedMask);
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else if (image.type() == CV_8UC3)
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else if (image.type() == CV_8UC3)
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warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(),
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warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
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warpedImage, warpedDepth, warpedMask);
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warpedImage, warpedDepth, warpedMask);
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else
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else
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CV_Error(Error::StsBadArg, "Image has to be type of CV_8UC1 or CV_8UC3");
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CV_Error(Error::StsBadArg, "Image has to be type of CV_8UC1 or CV_8UC3");
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