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fix(depth): add disparity limit

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This commit is contained in:
kalman 2019-01-10 18:11:34 +08:00
parent fbd416324e
commit e2478c644a
1 changed files with 7 additions and 2 deletions
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5
src/mynteye/api/processor/depth_processor.cc
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@ -21,6 +21,9 @@ MYNTEYE_BEGIN_NAMESPACE
const char DepthProcessor::NAME[] = "DepthProcessor"; const char DepthProcessor::NAME[] = "DepthProcessor";
const int DISPARITY_MIN = 0;
const int DISPARITY_MAX = 64;
DepthProcessor::DepthProcessor( DepthProcessor::DepthProcessor(
std::shared_ptr<struct camera_calib_info_pair> calib_infos, std::shared_ptr<struct camera_calib_info_pair> calib_infos,
std::int32_t proc_period) std::int32_t proc_period)
@ -54,10 +57,12 @@ bool DepthProcessor::OnProcess(
for (int i = 0; i < rows; i++) { for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) { for (int j = 0; j < cols; j++) {
float disparity_value = input->value.at<float>(i, j); float disparity_value = input->value.at<float>(i, j);
if (disparity_value > DISPARITY_MAX && disparity_value > DISPARITY_MIN) {
float depth = calib_infos_->T_mul_f / disparity_value; float depth = calib_infos_->T_mul_f / disparity_value;
depth_mat.at<ushort>(i, j) = depth * 1000; depth_mat.at<ushort>(i, j) = depth * 1000;
} }
} }
}
output->value = depth_mat; output->value = depth_mat;
output->id = input->id; output->id = input->id;
output->data = input->data; output->data = input->data;