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fix(ros): add default intrinsics in ros node

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This commit is contained in:
TinyOh
2019-01-15 17:18:16 +08:00
parent 41c882d0a7
commit b3bc96f12b
2 changed files with 75 additions and 9 deletions
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14
src/mynteye/api/processor/disparity_processor.cc
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@@ -23,6 +23,8 @@
#include "mynteye/logger.h"
#define WITH_BM_SOBEL_FILTER
MYNTEYE_BEGIN_NAMESPACE
const char DisparityProcessor::NAME[] = "DisparityProcessor";
@@ -67,6 +69,7 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
#endif
#ifdef WITH_BM_SOBEL_FILTER
} else if (type_ == DisparityProcessorType::BM) {
int bmWinSize = 3;
#ifdef WITH_OPENCV2
int bmWinSize = 3;
// StereoBM
@@ -86,7 +89,7 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
bm_matcher = cv::StereoBM::create(0, 3);
bm_matcher->setPreFilterSize(9);
bm_matcher->setPreFilterCap(31);
bm_matcher->setBlockSize(15);
bm_matcher->setBlockSize(bmWinSize);
bm_matcher->setMinDisparity(0);
bm_matcher->setNumDisparities(64);
bm_matcher->setUniquenessRatio(15);
@@ -183,8 +186,13 @@ bool DisparityProcessor::OnProcess(
#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);
if (input->first.channels() == 1) {
// s1030
} else if (input->first.channels() == 3) {
// s210
cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
}
bm_matcher->compute(tmp1, tmp2, disparity);
#endif
} else {