From 41c882d0a7b8ed1c52908375e166e29672fe7b86 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Tue, 15 Jan 2019 14:05:11 +0800
Subject: [PATCH] fix(process): opencv2 and remove some useless include

---
 src/mynteye/api/processor/disparity_processor.cc | 11 ++++++++---
 src/mynteye/api/processor/rectify_processor.h    |  3 ---
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/mynteye/api/processor/disparity_processor.cc b/src/mynteye/api/processor/disparity_processor.cc
index 4454eab..b209291 100644
--- a/src/mynteye/api/processor/disparity_processor.cc
+++ b/src/mynteye/api/processor/disparity_processor.cc
@@ -160,10 +160,15 @@ bool DisparityProcessor::OnProcess(
   // It contains disparity values scaled by 16. So, to get the floating-point
   // disparity map,
   // you need to divide each disp element by 16.
-  if (type_ == SGBM) {
+  if (type_ == DisparityProcessorType::SGBM) {
     (*sgbm_matcher)(input->first, input->second, disparity);
-  } else if (type_ == BM) {
-    (*bm_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);
+#endif
   }
 #else
   // compute()
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index 147bc1e..7ebe2d8 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -25,9 +25,6 @@
 #include "mynteye/device/device.h"
 #include <camodocal/camera_models/EquidistantCamera.h>
 #include <opencv2/core/eigen.hpp>
-#include <boost/algorithm/string.hpp>
-#include <boost/filesystem.hpp>
-#include <boost/program_options.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/opencv.hpp>
 #include <opencv2/core/core.hpp>