From 0eefe46aa5cba178705224b69563a1540802b5fd Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 13 Mar 2019 11:19:26 +0200
Subject: [PATCH] More tweaks to disparity algorithm
---
cv-node/src/main.cpp | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index 385a5928f..e0378daf2 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
--
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