From 7a0724d61744963eb258d9ab910dcd025629dd3a Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 22 May 2019 12:33:44 +0300
Subject: [PATCH] libSGM bad disparity hack
---
.../rgbd-sources/src/algorithms/fixstars_sgm.cpp | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 4274af033..5c846acee 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -33,9 +33,12 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
//std::chrono::duration<double> elapsed =
// std::chrono::high_resolution_clock::now() - start;
//LOG(INFO) << "CUDA sgm in " << elapsed.count() << "s";
-
+
+ // todo: fix libSGM (return float data or provide mask separately)
+ // (256 << 5) coded in libSGM consistency check
+ Mat bad_pixels = (disp == (256 << 5));
disp.convertTo(disp, CV_32F, 1.0f/16.0f);
-}
-
-
-
+ disp.setTo(0, bad_pixels); // decide how bad values should be represented
+
+ disp.convertTo(disp, CV_32F, 1.0f/16.0f);
+}
\ No newline at end of file
--
GitLab