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Dedicated pointcloud module #29224 OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4134 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
101 lines
2.6 KiB
C++
101 lines
2.6 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#include "precomp.hpp"
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#include <opencv2/core/ocl.hpp>
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#include "utils.hpp"
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namespace cv
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{
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OdometryFrame::OdometryFrame(InputArray depth, InputArray image, InputArray mask, InputArray normals)
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{
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this->impl = makePtr<OdometryFrame::Impl>();
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if (!image.empty())
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{
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image.copyTo(this->impl->image);
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}
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if (!depth.empty())
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{
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depth.copyTo(this->impl->depth);
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}
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if (!mask.empty())
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{
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mask.copyTo(this->impl->mask);
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}
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if (!normals.empty())
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{
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normals.copyTo(this->impl->normals);
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}
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}
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void OdometryFrame::getImage(OutputArray image) const { this->impl->getImage(image); }
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void OdometryFrame::getGrayImage(OutputArray image) const { this->impl->getGrayImage(image); }
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void OdometryFrame::getDepth(OutputArray depth) const { this->impl->getDepth(depth); }
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void OdometryFrame::getProcessedDepth(OutputArray depth) const { this->impl->getProcessedDepth(depth); }
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void OdometryFrame::getMask(OutputArray mask) const { this->impl->getMask(mask); }
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void OdometryFrame::getNormals(OutputArray normals) const { this->impl->getNormals(normals); }
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int OdometryFrame::getPyramidLevels() const { return this->impl->getPyramidLevels(); }
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void OdometryFrame::getPyramidAt(OutputArray img, OdometryFramePyramidType pyrType, size_t level) const
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{
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this->impl->getPyramidAt(img, pyrType, level);
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}
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void OdometryFrame::Impl::getImage(OutputArray _image) const
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{
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_image.assign(this->image);
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}
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void OdometryFrame::Impl::getGrayImage(OutputArray _image) const
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{
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_image.assign(this->imageGray);
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}
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void OdometryFrame::Impl::getDepth(OutputArray _depth) const
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{
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_depth.assign(this->depth);
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}
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void OdometryFrame::Impl::getProcessedDepth(OutputArray _depth) const
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{
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_depth.assign(this->scaledDepth);
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}
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void OdometryFrame::Impl::getMask(OutputArray _mask) const
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{
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_mask.assign(this->mask);
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}
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void OdometryFrame::Impl::getNormals(OutputArray _normals) const
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{
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_normals.assign(this->normals);
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}
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int OdometryFrame::Impl::getPyramidLevels() const
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{
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// all pyramids should have the same size
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for (const auto& p : this->pyramids)
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{
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if (!p.empty())
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return (int)(p.size());
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}
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return 0;
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}
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void OdometryFrame::Impl::getPyramidAt(OutputArray _img, OdometryFramePyramidType pyrType, size_t level) const
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{
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CV_Assert(pyrType < OdometryFramePyramidType::N_PYRAMIDS);
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if (level < pyramids[pyrType].size())
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_img.assign(pyramids[pyrType][level]);
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else
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_img.clear();
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}
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}
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