Added reprojectImageTo3D

src/Calib3D.cc

@@ -132,6 +132,7 @@ void Calib3D::Init(Handle<Object> target)
     NODE_SET_METHOD(obj, "stereoCalibrate", StereoCalibrate);
     NODE_SET_METHOD(obj, "stereoRectify", StereoRectify);
     NODE_SET_METHOD(obj, "computeCorrespondEpilines", ComputeCorrespondEpilines);
+    NODE_SET_METHOD(obj, "reprojectImageTo3D", ReprojectImageTo3D);
 
     target->Set(NanNew("calib3d"), obj);
 }
@@ -551,3 +552,38 @@ NAN_METHOD(Calib3D::ComputeCorrespondEpilines)
         NanReturnUndefined();
     }
 }
+
+// cv::reprojectImageTo3D
+NAN_METHOD(Calib3D::ReprojectImageTo3D)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg0, the disparity image
+        cv::Mat disparity = matFromMatrix(args[0]);
+
+        // Arg1, the depth-to-disparity transformation Q
+        cv::Mat Q = matFromMatrix(args[1]);
+
+        // Arg 2, handle missing values, skipped for now
+
+        // Arg3, output bit depth, skipped for now
+
+        // Compute the depth image
+        cv::Mat depthImage;
+        cv::reprojectImageTo3D(disparity, depthImage, Q);
+
+        // Wrap the depth image
+        Local<Object> depthImageMatrix = matrixFromMat(depthImage);
+
+        NanReturnValue(depthImageMatrix);
+
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}

src/Calib3D.h

@@ -24,6 +24,8 @@ public:
     static NAN_METHOD(StereoRectify);
 
     static NAN_METHOD(ComputeCorrespondEpilines);
+
+    static NAN_METHOD(ReprojectImageTo3D);
 };
 
 #endif