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Commit 0eefe46a authored by Nicolas Pope's avatar Nicolas Pope
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More tweaks to disparity algorithm

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with 4 additions and 3 deletions
cv-node/src/main.cpp
+ 4
− 3
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...@@ -102,10 +102,10 @@ int main(int argc, char **argv) { ...@@ -102,10 +102,10 @@ int main(int argc, char **argv) {
int wsize = 5; int wsize = 5;
Ptr<DisparityWLSFilter> wls_filter; 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->setP1(24*wsize*wsize);
left_matcher->setP2(96*wsize*wsize); left_matcher->setP2(96*wsize*wsize);
left_matcher->setPreFilterCap(31); left_matcher->setPreFilterCap(63);
left_matcher->setMode(StereoSGBM::MODE_SGBM_3WAY); left_matcher->setMode(StereoSGBM::MODE_SGBM_3WAY);
wls_filter = createDisparityWLSFilter(left_matcher); wls_filter = createDisparityWLSFilter(left_matcher);
Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher); Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher);
...@@ -141,9 +141,10 @@ int main(int argc, char **argv) { ...@@ -141,9 +141,10 @@ int main(int argc, char **argv) {
// TODO Send RGB+D data somewhere // TODO Send RGB+D data somewhere
normalize(left_disp, left_disp, 0, 255, NORM_MINMAX, CV_8U); 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); 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){ if(cv::waitKey(20) == 27){
//exit if ESC is pressed //exit if ESC is pressed
......
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