disable pwm7

hc

2023-11-22 f743a7adbd6e230d66a6206fa115b59fec2d88eb

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#include "orb_algos_opencv.h"
 
#if OPENCV_SUPPORT
int
push_orbpoint_cv(U32 num_points, U16* points, vector<Point2f> m_Points) {
    Point2f point;
    m_Points.clear();
    vector<Point2f>(m_Points).swap(m_Points);
 
    for (int i = 0; i < num_points; i++) {
        point.x = points[i].x;
        point.y = points[i].y;
 
        m_Points.push_back(point);
    }
    return 0;
}
 
int
get_homography_matrix(
    vector<Point2f> m_queryPoints,
    vector<Point2f> m_trainPoints,
    double* homographyMat,
    U32 size)
{
    double reprojectionThreshold = 10;
 
    Mat homography = findHomography(m_queryPoints, m_trainPoints, RANSAC,
                                    reprojectionThreshold, noArray(), 2000, 0.995);
    double* data = (double*)homography.data;
 
    for (int i = 0; i < size; i++) {
        homographyMat[i] = data[i];
        //LOGI_ORB("%s: feature point match ret: %f\n", __FUNCTION__, data[i]);
    }
    return 0;
}
#endif