diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp index 385a5928f9327bc70847b5f85b79801e88cad8a4..e0378daf2d493a2994dd087e517f8bd0f96edf85 100644 --- a/cv-node/src/main.cpp +++ b/cv-node/src/main.cpp @@ -102,10 +102,10 @@ int main(int argc, char **argv) { int wsize = 5; Ptr<DisparityWLSFilter> wls_filter; - Ptr<StereoSGBM> left_matcher = StereoSGBM::create(10,max_disp,wsize); + Ptr<StereoSGBM> left_matcher = StereoSGBM::create(50,max_disp,wsize); left_matcher->setP1(24*wsize*wsize); left_matcher->setP2(96*wsize*wsize); - left_matcher->setPreFilterCap(31); + left_matcher->setPreFilterCap(63); left_matcher->setMode(StereoSGBM::MODE_SGBM_3WAY); wls_filter = createDisparityWLSFilter(left_matcher); Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher); @@ -141,9 +141,10 @@ int main(int argc, char **argv) { // TODO Send RGB+D data somewhere normalize(left_disp, left_disp, 0, 255, NORM_MINMAX, CV_8U); + //normalize(right_disp, right_disp, 0, 255, NORM_MINMAX, CV_8U); cv::imshow("Left",left_disp); - if (lsrc->isStereo()) cv::imshow("Right",r); + //if (lsrc->isStereo()) cv::imshow("Right",right_disp); if(cv::waitKey(20) == 27){ //exit if ESC is pressed