vendor: OpenCV 5.0.0 snapshot at 40738fb16ceddb5fb3fea747585f7ce6abb0605b

2026-08-22 00:10:33 +08:00
commit f7f077da11
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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+
+#include "precomp.hpp"
+
+#include <opencv2/core/ocl.hpp>
+
+#include "utils.hpp"
+
+namespace cv
+{
+
+OdometryFrame::OdometryFrame(InputArray depth, InputArray image, InputArray mask, InputArray normals)
+{
+    this->impl = makePtr<OdometryFrame::Impl>();
+    if (!image.empty())
+    {
+        image.copyTo(this->impl->image);
+    }
+    if (!depth.empty())
+    {
+        depth.copyTo(this->impl->depth);
+    }
+    if (!mask.empty())
+    {
+        mask.copyTo(this->impl->mask);
+    }
+    if (!normals.empty())
+    {
+        normals.copyTo(this->impl->normals);
+    }
+}
+
+void OdometryFrame::getImage(OutputArray image) const { this->impl->getImage(image); }
+void OdometryFrame::getGrayImage(OutputArray image) const { this->impl->getGrayImage(image); }
+void OdometryFrame::getDepth(OutputArray depth) const { this->impl->getDepth(depth); }
+void OdometryFrame::getProcessedDepth(OutputArray depth) const { this->impl->getProcessedDepth(depth); }
+void OdometryFrame::getMask(OutputArray mask) const { this->impl->getMask(mask); }
+void OdometryFrame::getNormals(OutputArray normals) const { this->impl->getNormals(normals); }
+
+int OdometryFrame::getPyramidLevels() const { return this->impl->getPyramidLevels(); }
+
+void OdometryFrame::getPyramidAt(OutputArray img, OdometryFramePyramidType pyrType, size_t level) const
+{
+    this->impl->getPyramidAt(img, pyrType, level);
+}
+
+void OdometryFrame::Impl::getImage(OutputArray _image) const
+{
+    _image.assign(this->image);
+}
+
+void OdometryFrame::Impl::getGrayImage(OutputArray _image) const
+{
+    _image.assign(this->imageGray);
+}
+
+void OdometryFrame::Impl::getDepth(OutputArray _depth) const
+{
+    _depth.assign(this->depth);
+}
+
+void OdometryFrame::Impl::getProcessedDepth(OutputArray _depth) const
+{
+    _depth.assign(this->scaledDepth);
+}
+
+void OdometryFrame::Impl::getMask(OutputArray _mask) const
+{
+    _mask.assign(this->mask);
+}
+
+void OdometryFrame::Impl::getNormals(OutputArray _normals) const
+{
+    _normals.assign(this->normals);
+}
+
+int OdometryFrame::Impl::getPyramidLevels() const
+{
+    // all pyramids should have the same size
+    for (const auto& p : this->pyramids)
+    {
+        if (!p.empty())
+            return (int)(p.size());
+    }
+    return 0;
+}
+
+
+void OdometryFrame::Impl::getPyramidAt(OutputArray _img, OdometryFramePyramidType pyrType, size_t level) const
+{
+    CV_Assert(pyrType < OdometryFramePyramidType::N_PYRAMIDS);
+    if (level < pyramids[pyrType].size())
+        _img.assign(pyramids[pyrType][level]);
+    else
+        _img.clear();
+}
+
+}