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Code Issues Releases Wiki Activity

Expose depthTo3d() and warpFrame() to the Python wrapper

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This commit is contained in:
Hamdi Sahloul
2017-02-15 01:28:28 +09:00
parent 013161d55c
commit 62f5e865bf
2 changed files with 35 additions and 34 deletions
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6
modules/rgbd/include/opencv2/rgbd.hpp
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@@ -334,7 +334,7 @@ namespace rgbd
* depth of `K` if `depth` is of depth CV_U * depth of `K` if `depth` is of depth CV_U
* @param mask the mask of the points to consider (can be empty) * @param mask the mask of the points to consider (can be empty)
*/ */
CV_EXPORTS CV_EXPORTS_W
void void
depthTo3d(InputArray depth, InputArray K, OutputArray points3d, InputArray mask = noArray()); depthTo3d(InputArray depth, InputArray K, OutputArray points3d, InputArray mask = noArray());
@@ -1026,10 +1026,10 @@ namespace rgbd
* @param warpedDepth The warped depth. * @param warpedDepth The warped depth.
* @param warpedMask The warped mask. * @param warpedMask The warped mask.
*/ */
CV_EXPORTS CV_EXPORTS_W
void void
warpFrame(const Mat& image, const Mat& depth, const Mat& mask, const Mat& Rt, const Mat& cameraMatrix, warpFrame(const Mat& image, const Mat& depth, const Mat& mask, const Mat& Rt, const Mat& cameraMatrix,
const Mat& distCoeff, Mat& warpedImage, Mat* warpedDepth = 0, Mat* warpedMask = 0); const Mat& distCoeff, OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray());
// TODO Depth interpolation // TODO Depth interpolation
// Curvature // Curvature

15
modules/rgbd/src/odometry.cpp
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@@ -941,7 +941,7 @@ template<class ImageElemType>
static void static void
warpFrameImpl(const Mat& image, const Mat& depth, const Mat& mask, warpFrameImpl(const Mat& image, const Mat& depth, const Mat& mask,
const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff, const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff,
Mat& warpedImage, Mat* warpedDepth, Mat* warpedMask) OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
{ {
CV_Assert(image.size() == depth.size()); CV_Assert(image.size() == depth.size());
@@ -954,7 +954,8 @@ warpFrameImpl(const Mat& image, const Mat& depth, const Mat& mask,
projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix, projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix,
distCoeff, points2d); distCoeff, points2d);
warpedImage = Mat(image.size(), image.type(), Scalar::all(0)); _warpedImage.create(image.size(), image.type());
Mat warpedImage = _warpedImage.getMat();
Mat zBuffer(image.size(), CV_32FC1, std::numeric_limits<float>::max()); Mat zBuffer(image.size(), CV_32FC1, std::numeric_limits<float>::max());
const Rect rect = Rect(0, 0, image.cols, image.rows); const Rect rect = Rect(0, 0, image.cols, image.rows);
@@ -978,13 +979,13 @@ warpFrameImpl(const Mat& image, const Mat& depth, const Mat& mask,
} }
} }
if(warpedMask) if(warpedMask.needed())
*warpedMask = zBuffer != std::numeric_limits<float>::max(); Mat(zBuffer != std::numeric_limits<float>::max()).copyTo(warpedMask);
if(warpedDepth) if(warpedDepth.needed())
{ {
zBuffer.setTo(std::numeric_limits<float>::quiet_NaN(), zBuffer == std::numeric_limits<float>::max()); zBuffer.setTo(std::numeric_limits<float>::quiet_NaN(), zBuffer == std::numeric_limits<float>::max());
*warpedDepth = zBuffer; zBuffer.copyTo(warpedDepth);
} }
} }
@@ -1406,7 +1407,7 @@ bool RgbdICPOdometry::computeImpl(const Ptr<OdometryFrame>& srcFrame, const Ptr<
void void
warpFrame(const Mat& image, const Mat& depth, const Mat& mask, warpFrame(const Mat& image, const Mat& depth, const Mat& mask,
const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff, const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff,
Mat& warpedImage, Mat* warpedDepth, Mat* warpedMask) OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
{ {
if(image.type() == CV_8UC1) if(image.type() == CV_8UC1)
warpFrameImpl<uchar>(image, depth, mask, Rt, cameraMatrix, distCoeff, warpedImage, warpedDepth, warpedMask); warpFrameImpl<uchar>(image, depth, mask, Rt, cameraMatrix, distCoeff, warpedImage, warpedDepth, warpedMask);