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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/imgproc/imgproc.hpp>
#ifdef WITH_BM_SOBEL_FILTER
#include <opencv2/ximgproc/disparity_filter.hpp>
#endif
#include "mynteye/logger.h"
@ -71,25 +68,26 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
} else if (type_ == DisparityProcessorType::BM) {
int bmWinSize = 3;
#ifdef WITH_OPENCV2
int bmWinSize = 3;
// StereoBM
// https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm-stereobm
bm_matcher = cv::Ptr<cv::StereoBM>(new cv::StereoBM(
int 0,
64,
100,
8 * bmWinSize * bmWinSize,
32 * bmWinSize * bmWinSize,
int -1,
int 31,
15,
100,
4));
LOG(ERROR) << "not supported in opencv 2.x";
// int bmWinSize = 3;
// // StereoBM
// // https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm-stereobm
// bm_matcher = cv::Ptr<cv::StereoBM>(new cv::StereoBM(
// int 0,
// 64,
// 100,
// 8 * bmWinSize * bmWinSize,
// 32 * bmWinSize * bmWinSize,
// int -1,
// int 31,
// 15,
// 100,
// 4));
#else
bm_matcher = cv::StereoBM::create(0, 3);
bm_matcher->setPreFilterSize(9);
bm_matcher->setPreFilterCap(31);
bm_matcher->setBlockSize(bmWinSize);
bm_matcher->setBlockSize(15);
bm_matcher->setMinDisparity(0);
bm_matcher->setNumDisparities(64);
bm_matcher->setUniquenessRatio(15);
@ -167,10 +165,11 @@ bool DisparityProcessor::OnProcess(
(*sgbm_matcher)(input->first, input->second, disparity);
#ifdef WITH_BM_SOBEL_FILTER
} else if (type_ == DisparityProcessorType::BM) {
cv::Mat tmp1, tmp2;
cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
(*bm_matcher)(tmp1, tmp2, disparity);
LOG(ERROR) << "not supported in opencv 2.x";
// cv::Mat tmp1, tmp2;
// cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
// cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
// (*bm_matcher)(tmp1, tmp2, disparity);
#endif
}
#else
@ -188,7 +187,9 @@ bool DisparityProcessor::OnProcess(
cv::Mat tmp1, tmp2;
if (input->first.channels() == 1) {
// s1030
} else if (input->first.channels() == 3) {
tmp1 = input->first;
tmp2 = input->second;
} else if (input->first.channels() >= 3) {
// s210
cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);