From 23e28e20a606c087099902427b3f50b06cb6522e Mon Sep 17 00:00:00 2001
From: Osenberg-Y <osenberg@qq.com>
Date: Mon, 13 Aug 2018 18:42:53 +0800
Subject: [PATCH] Made some modification of code style and perfect function

---
 src/api/processor/disparity_processor.cc | 17 +++++++++++++++--
 src/api/processor/disparity_processor.h  |  4 +---
 src/api/processor/points_processor.cc    |  9 +++------
 3 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/src/api/processor/disparity_processor.cc b/src/api/processor/disparity_processor.cc
index 2f4ccda..cea855a 100644
--- a/src/api/processor/disparity_processor.cc
+++ b/src/api/processor/disparity_processor.cc
@@ -28,8 +28,16 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
 
 	int blockSize_ = 15;           // 15
-	int minDisparity_ = 0;         // 0
 	int numDisparities_ = 64;      // 64
+
+#ifdef USE_OPENCV2
+	bm_ = cv::Ptr<cv::StereoBM>(
+			new cv::StereoBM(
+				cv::StereoBM::BASIC_PRESET,
+				numDisparities_,
+				blockSize_));
+#else
+	int minDisparity_ = 0;         // 0
 	int preFilterSize_ = 9;        // 9
 	int preFilterCap_ = 31;        // 31
 	int uniquenessRatio_ = 15;     // 15
@@ -37,7 +45,7 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
 	int speckleWindowSize_ = 100;  // 100
 	int speckleRange_ = 4;         // 4
 
-	bm_ = cv::StereoBM::create();
+	bm_ = cv::StereoBM::create(16, 9);
 	bm_->setBlockSize(blockSize_);
 	bm_->setMinDisparity(minDisparity_);
 	bm_->setNumDisparities(numDisparities_);
@@ -47,6 +55,7 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
 	bm_->setTextureThreshold(textureThreshold_);
 	bm_->setSpeckleWindowSize(speckleWindowSize_);
 	bm_->setSpeckleRange(speckleRange_);
+#endif
 }
 
 DisparityProcessor::~DisparityProcessor() {
@@ -68,7 +77,11 @@ bool DisparityProcessor::OnProcess(
   ObjMat *output = Object::Cast<ObjMat>(out);
 
   cv::Mat disparity;
+#ifdef USE_OPENCV2
+	(*bm_)(input->first, input->second, disparity);
+#else
   bm_->compute(input->first, input->second, disparity);
+#endif
 	disparity.convertTo(output->value, CV_32F, 1./16);
   return true;
 }
diff --git a/src/api/processor/disparity_processor.h b/src/api/processor/disparity_processor.h
index da4f78b..6a92ce6 100644
--- a/src/api/processor/disparity_processor.h
+++ b/src/api/processor/disparity_processor.h
@@ -21,13 +21,11 @@
 
 #include "api/processor/processor.h"
 
-#if 0
 namespace cv {
 
-class StereoSGBM;
+class StereoBM;
 
 }  // namespace cv
-#endif
 
 MYNTEYE_BEGIN_NAMESPACE
 
diff --git a/src/api/processor/points_processor.cc b/src/api/processor/points_processor.cc
index 529c547..563beb8 100644
--- a/src/api/processor/points_processor.cc
+++ b/src/api/processor/points_processor.cc
@@ -45,8 +45,7 @@ bool PointsProcessor::OnProcess(
   UNUSED(parent)
   const ObjMat *input = Object::Cast<ObjMat>(in);
   ObjMat *output = Object::Cast<ObjMat>(out);
-  // cv::reprojectImageTo3D(input->value, output->value, Q_, true, -1);
-	bool handleMissingValues = true;
+
 	cv::Mat disparity = input->value;
 	output->value.create(disparity.size(), CV_MAKETYPE(CV_32FC3, 3));
 	cv::Mat _3dImage = output->value;
@@ -60,12 +59,9 @@ bool PointsProcessor::OnProcess(
 
 	double minDisparity = FLT_MAX;
 
-	if (handleMissingValues) {
-		cv::minMaxIdx(disparity, &minDisparity, 0, 0, 0);
-	}
+	cv::minMaxIdx(disparity, &minDisparity, 0, 0, 0);
 
 	for (int y = 0; y <	disparity.rows; y++) {
-
 		float *sptr = disparity.ptr<float>(y);
 		cv::Vec3f *dptr = _3dImage.ptr<cv::Vec3f>(y);
 
@@ -81,6 +77,7 @@ bool PointsProcessor::OnProcess(
 			}
 		}
 	}
+
   return true;
 }