From 6dc0377e46967caff452b6e05376272b90681238 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 15 Mar 2019 08:48:28 +0200
Subject: [PATCH] Adding filtering to disparity for massive improvements
---
cv-node/src/main.cpp | 20 ++++++++++++++++----
1 file changed, 16 insertions(+), 4 deletions(-)
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index fe13b1c73..1d20dbe0d 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -101,8 +101,10 @@ int main(int argc, char **argv) {
LOG(WARNING) << "Cameras are not calibrated!";
}
- int max_disp = 256;
+ int max_disp = 208; //256;
int wsize = 5;
+ float sigma = 1.5;
+ float lambda = 8000.0;
Ptr<DisparityWLSFilter> wls_filter;
Ptr<StereoSGBM> left_matcher = StereoSGBM::create(50,max_disp,wsize);
@@ -118,7 +120,7 @@ int main(int argc, char **argv) {
Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher);*/
while (true) {
- Mat l, r, left_disp, right_disp;
+ Mat l, r, left_disp, right_disp, filtered_disp;
calibrate.undistort(l,r);
//lsrc->get(l,r);
@@ -134,6 +136,10 @@ int main(int argc, char **argv) {
// TODO Pose and disparity etc here...
+ // Downscale to half
+ cv::resize(l, l, cv::Size(l.cols * 0.75,l.rows * 0.75), 0, 0, INTER_LINEAR);
+ cv::resize(r, r, cv::Size(r.cols * 0.75,r.rows * 0.75), 0, 0, INTER_LINEAR);
+
cvtColor(l, l, COLOR_BGR2GRAY);
cvtColor(r, r, COLOR_BGR2GRAY);
//matching_time = (double)getTickCount();
@@ -141,12 +147,18 @@ int main(int argc, char **argv) {
right_matcher->compute(r,l, right_disp);
// matching_time = ((double)getTickCount() - matching_time)/getTickFrequency();
+ wls_filter->setLambda(lambda);
+ wls_filter->setSigmaColor(sigma);
+ //filtering_time = (double)getTickCount();
+ wls_filter->filter(left_disp,l,filtered_disp,right_disp);
+ //filtering_time = ((double)getTickCount() - filtering_time)/getTickFrequency();
+
// TODO Send RGB+D data somewhere
- normalize(left_disp, left_disp, 0, 255, NORM_MINMAX, CV_8U);
+ normalize(filtered_disp, filtered_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",filtered_disp);
//if (lsrc->isStereo()) cv::imshow("Right",right_disp);
if(cv::waitKey(20) == 27){
--
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