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Merge pull request #4907 from adujardin/zedsdk_3_support 

Shorter sl::Mat cast function (Related to #4762)
This commit is contained in:
Alexey 2020-02-24 14:54:49 +03:00 committed by GitHub
parent 26366d6535 876eafd3b1
commit 7567ba0dd4
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 12 additions and 66 deletions
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78
src/yolo_console_dll.cpp
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@ -100,75 +100,19 @@ std::vector<bbox_t> get_3d_coordinates(std::vector<bbox_t> bbox_vect, cv::Mat xy
return bbox3d_vect;
}
cv::Mat slMat2cvMat(sl::Mat &input) {
int cv_type = -1; // Mapping between MAT_TYPE and CV_TYPE
if(input.getDataType() ==
#ifdef ZED_STEREO_2_COMPAT_MODE
cv::Mat slMat2cvMat(sl::Mat &input) {
// Mapping between MAT_TYPE and CV_TYPE
int cv_type = -1;
switch (input.getDataType()) {
case sl::MAT_TYPE_32F_C1:
cv_type = CV_32FC1;
break;
case sl::MAT_TYPE_32F_C2:
cv_type = CV_32FC2;
break;
case sl::MAT_TYPE_32F_C3:
cv_type = CV_32FC3;
break;
case sl::MAT_TYPE_32F_C4:
cv_type = CV_32FC4;
break;
case sl::MAT_TYPE_8U_C1:
cv_type = CV_8UC1;
break;
case sl::MAT_TYPE_8U_C2:
cv_type = CV_8UC2;
break;
case sl::MAT_TYPE_8U_C3:
cv_type = CV_8UC3;
break;
case sl::MAT_TYPE_8U_C4:
cv_type = CV_8UC4;
break;
default:
break;
}
return cv::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(sl::MEM_CPU));
}
sl::MAT_TYPE_32F_C4
#else
cv::Mat slMat2cvMat(sl::Mat &input) {
// Mapping between MAT_TYPE and CV_TYPE
int cv_type = -1;
switch (input.getDataType()) {
case sl::MAT_TYPE::F32_C1:
cv_type = CV_32FC1;
break;
case sl::MAT_TYPE::F32_C2:
cv_type = CV_32FC2;
break;
case sl::MAT_TYPE::F32_C3:
cv_type = CV_32FC3;
break;
case sl::MAT_TYPE::F32_C4:
sl::MAT_TYPE::F32_C4
#endif
) {
cv_type = CV_32FC4;
break;
case sl::MAT_TYPE::U8_C1:
cv_type = CV_8UC1;
break;
case sl::MAT_TYPE::U8_C2:
cv_type = CV_8UC2;
break;
case sl::MAT_TYPE::U8_C3:
cv_type = CV_8UC3;
break;
case sl::MAT_TYPE::U8_C4:
cv_type = CV_8UC4;
break;
default:
break;
}
} else cv_type = CV_8UC4; // sl::Mat used are either RGBA images or XYZ (4C) point clouds
return cv::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(sl::MEM::CPU));
}
#endif
cv::Mat zed_capture_rgb(sl::Camera &zed) {
sl::Mat left;
@ -180,11 +124,13 @@ cv::Mat zed_capture_rgb(sl::Camera &zed) {
cv::Mat zed_capture_3d(sl::Camera &zed) {
sl::Mat cur_cloud;
zed.retrieveMeasure(cur_cloud,
#ifdef ZED_STEREO_2_COMPAT_MODE
zed.retrieveMeasure(cur_cloud, sl::MEASURE_XYZ);
sl::MEASURE_XYZ
#else
zed.retrieveMeasure(cur_cloud, sl::MEASURE::XYZ);
sl::MEASURE::XYZ
#endif
);
return slMat2cvMat(cur_cloud).clone();
}