Implements #379 Min Disparity in SGM

components/operators/src/disparity/fixstars_sgm.cpp

@@ -216,9 +216,9 @@ bool FixstarsSGM::apply(Frame &in, Frame &out, cudaStream_t stream) {
 		weightsF_.convertTo(weights_, CV_8UC1, 255.0f, cvstream);
 
 		//if ((int)P2_map_.step != P2_map_.cols) LOG(ERROR) << "P2 map step error: " << P2_map_.cols << "," << P2_map_.step;
-		ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, (uint8_t*) weights_.data, weights_.step1(), config()->value("min_disp", 0), stream);
+		ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, (uint8_t*) weights_.data, weights_.step1(), config()->value("min_disp", 60), stream);
 	} else {
-		ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, nullptr, 0, config()->value("min_disp", 0), stream);
+		ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, nullptr, 0, config()->value("min_disp", 60), stream);
 	}
 
 	// GpuMat left_pixels(dispt_, cv::Rect(0, 0, max_disp_, dispt_.rows));