From 5512f8052afeb8ad222bfa0f331c76b47c2b408b Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 13 Jun 2019 14:12:15 +0300
Subject: [PATCH] mask left area (max_disp)
---
components/rgbd-sources/src/algorithms/fixstars_sgm.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 1267b168e..cbba8cb47 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -42,8 +42,11 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
// todo: fix libSGM (return float data or provide mask separately)
// disparity values set to (256 << 5) in libSGM consistency check
Mat bad_pixels = (disp == (256 << 5));
- disp.setTo(0, bad_pixels);
+ disp.setTo(0, bad_pixels);
+ Mat left_pixels(cv::Rect(0, 0, max_disp_, disp.rows));
+ left_pixels = 0;
+
if (use_filter_) {
cv::cuda::GpuMat l_gpu, disp_gpu, disp_gpu_out;
// parameters need benchmarking, impact of image
--
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