19 lines
461 B
C++
19 lines
461 B
C++
#pragma once
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#include "opencv2/core/core.hpp"
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class DepthProcess
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{
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private:
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cv::Mat imgRGB;
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cv::Mat imgDepth; // or pointCloud detect by lidar
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cv::Mat mK; // camera intrinsic or external parameters between camera and lidar
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cv::Mat obstacle; // [dis, cls, maby size]
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public:
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DepthProcess(cv::Mat mk);
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void obstacleDetect(cv::Mat imgDepth);
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void obstacleRecognize(cv::Mat boxes);
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cv::Mat getObstacle();
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};
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