tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix(disparity): opencv2.0 logic

Browse Source
This commit is contained in:
TinyOh 2019-01-28 11:11:20 +08:00
parent a389d84452
commit 58464510f6
2 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/mynteye/api/processor/disparity_processor.cc
View File

@ -46,7 +46,7 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
100, // speckleWindowSize
32, // speckleRange
false)); // fullDP
LOG(ERROR) << "not supported in opencv 2.x";
LOG(ERROR) << "BM not supported in opencv 2.x, use sgbm";
// int bmWinSize = 3;
// // StereoBM
// // https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm-stereobm
@ -130,7 +130,8 @@ bool DisparityProcessor::OnProcess(
if (type_ == DisparityComputingMethod::SGBM) {
(*sgbm_matcher)(input->first, input->second, disparity);
} else if (type_ == DisparityComputingMethod::BM) {
LOG(ERROR) << "not supported in opencv 2.x";
// LOG(ERROR) << "not supported in opencv 2.x";
(*sgbm_matcher)(input->first, input->second, disparity);
// cv::Mat tmp1, tmp2;
// cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
// cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);

2
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
View File

@ -59,7 +59,7 @@
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
<arg name="bm" default="1" />
<arg name="disparity_computing_method" default="$(arg bm)" />
<arg name="disparity_computing_method" default="$(arg sgbm)" />
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />