reprojectImageTo3D.cpp

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#include "mexopencv.hpp"
#include "opencv2/calib3d.hpp"
using namespace std;
using namespace cv;

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs>=2 && (nrhs%2)==0 && nlhs<=1);

    // Argument vector
    vector<MxArray> rhs(prhs, prhs+nrhs);

    // Option processing
    int ddepth = -1;
    bool handleMissingValues = false;
    for (int i=2; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "Depth")
            ddepth = (rhs[i+1].isChar()) ?
                ClassNameMap[rhs[i+1].toString()] : rhs[i+1].toInt();
        else if (key == "HandleMissingValues")
            handleMissingValues = rhs[i+1].toBool();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }

    // Process
    Mat disparity(rhs[0].toMat()),
        Q(rhs[1].toMat(CV_64F)),
        image3d;
    reprojectImageTo3D(disparity, image3d, Q, handleMissingValues, ddepth);
    plhs[0] = MxArray(image3d);
}