From 5d0442021f8321c5f5f46449ea0e7d099d6998e6 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 20 Jun 2019 14:49:55 +0300
Subject: [PATCH] fix step
---
.../rgbd-sources/src/algorithms/fixstars_sgm.cpp | 4 ++--
components/rgbd-sources/src/calibrate.cpp | 11 +++++++++--
2 files changed, 11 insertions(+), 4 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 89c78b12b..bd9f02537 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -25,11 +25,11 @@ void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
cv::cuda::cvtColor(r, rbw, cv::COLOR_BGR2GRAY);
if (disp.type() != CV_16SC1 || disp.rows != l.rows || disp.cols != l.cols) {
- disp = GpuMat(l.rows, l.cols, CV_16SC1, cv::Scalar(0));
+ disp = GpuMat(l.rows, l.cols, CV_16SC1);
}
if (!ssgm_) { // todo: move to constructor
- ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, l.step, disp.step,
+ ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, lbw.step, disp.step / sizeof(short),
sgm::EXECUTE_INOUT_HOST2HOST, sgm::StereoSGM::Parameters(10,120,0.95f,true));
}
diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/calibrate.cpp
index f9d0f2532..51767128e 100644
--- a/components/rgbd-sources/src/calibrate.cpp
+++ b/components/rgbd-sources/src/calibrate.cpp
@@ -116,8 +116,15 @@ bool Calibrate::_loadCalibration(cv::Size img_size, std::pair<Mat, Mat> &map1, s
}
void Calibrate::rectifyStereo(GpuMat &l, GpuMat &r, Stream &stream) {
- cv::cuda::remap(l, l, map1_gpu_.first, map2_gpu_.first, INTER_LINEAR);
- cv::cuda::remap(r, r, map1_gpu_.second, map2_gpu_.second, INTER_LINEAR);
+ // cv::cuda::remap() can not use same Mat for input and output
+
+ GpuMat l_tmp(l.size(), l.type());
+ GpuMat r_tmp(r.size(), r.type());
+ cv::cuda::remap(l, l_tmp, map1_gpu_.first, map2_gpu_.first, cv::INTER_LINEAR, 0, cv::Scalar(), stream);
+ cv::cuda::remap(r, r_tmp, map1_gpu_.second, map2_gpu_.second, cv::INTER_LINEAR, 0, cv::Scalar(), stream);
+ stream.waitForCompletion();
+ l = l_tmp;
+ r = r_tmp;
}
bool Calibrate::isCalibrated() {
--
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