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fix(bm): format fix

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This commit is contained in:
TinyOh 2019-01-16 18:03:30 +08:00
parent 47fb693b61
commit 221d65e6b3
1 changed files with 24 additions and 23 deletions
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47
src/mynteye/api/processor/disparity_processor.cc
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@ -17,9 +17,6 @@
#include <opencv2/calib3d/calib3d.hpp> #include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#ifdef WITH_BM_SOBEL_FILTER
#include <opencv2/ximgproc/disparity_filter.hpp>
#endif
#include "mynteye/logger.h" #include "mynteye/logger.h"
@ -71,25 +68,26 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
} else if (type_ == DisparityProcessorType::BM) { } else if (type_ == DisparityProcessorType::BM) {
int bmWinSize = 3; int bmWinSize = 3;
#ifdef WITH_OPENCV2 #ifdef WITH_OPENCV2
int bmWinSize = 3; LOG(ERROR) << "not supported in opencv 2.x";
// StereoBM // int bmWinSize = 3;
// https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm-stereobm // // StereoBM
bm_matcher = cv::Ptr<cv::StereoBM>(new cv::StereoBM( // // https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm-stereobm
int 0, // bm_matcher = cv::Ptr<cv::StereoBM>(new cv::StereoBM(
64, // int 0,
100, // 64,
8 * bmWinSize * bmWinSize, // 100,
32 * bmWinSize * bmWinSize, // 8 * bmWinSize * bmWinSize,
int -1, // 32 * bmWinSize * bmWinSize,
int 31, // int -1,
15, // int 31,
100, // 15,
4)); // 100,
// 4));
#else #else
bm_matcher = cv::StereoBM::create(0, 3); bm_matcher = cv::StereoBM::create(0, 3);
bm_matcher->setPreFilterSize(9); bm_matcher->setPreFilterSize(9);
bm_matcher->setPreFilterCap(31); bm_matcher->setPreFilterCap(31);
bm_matcher->setBlockSize(bmWinSize); bm_matcher->setBlockSize(15);
bm_matcher->setMinDisparity(0); bm_matcher->setMinDisparity(0);
bm_matcher->setNumDisparities(64); bm_matcher->setNumDisparities(64);
bm_matcher->setUniquenessRatio(15); bm_matcher->setUniquenessRatio(15);
@ -167,10 +165,11 @@ bool DisparityProcessor::OnProcess(
(*sgbm_matcher)(input->first, input->second, disparity); (*sgbm_matcher)(input->first, input->second, disparity);
#ifdef WITH_BM_SOBEL_FILTER #ifdef WITH_BM_SOBEL_FILTER
} else if (type_ == DisparityProcessorType::BM) { } else if (type_ == DisparityProcessorType::BM) {
cv::Mat tmp1, tmp2; LOG(ERROR) << "not supported in opencv 2.x";
cv::cvtColor(input->first, tmp1, CV_RGB2GRAY); // cv::Mat tmp1, tmp2;
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY); // cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
(*bm_matcher)(tmp1, tmp2, disparity); // cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
// (*bm_matcher)(tmp1, tmp2, disparity);
#endif #endif
} }
#else #else
@ -188,7 +187,9 @@ bool DisparityProcessor::OnProcess(
cv::Mat tmp1, tmp2; cv::Mat tmp1, tmp2;
if (input->first.channels() == 1) { if (input->first.channels() == 1) {
// s1030 // s1030
} else if (input->first.channels() == 3) { tmp1 = input->first;
tmp2 = input->second;
} else if (input->first.channels() >= 3) {
// s210 // s210
cv::cvtColor(input->first, tmp1, CV_RGB2GRAY); cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY); cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);