From a7d339f4e3f159c553e7bf2cd0292982cf39bdeb Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 20 Apr 2020 13:39:05 +0300
Subject: [PATCH] fix build
---
components/operators/src/depth.cpp | 3 +++
lib/libstereo/src/stereo_censussgm.cu | 14 +++++++-------
2 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/components/operators/src/depth.cpp b/components/operators/src/depth.cpp
index 2c689c2b4..24597a233 100644
--- a/components/operators/src/depth.cpp
+++ b/components/operators/src/depth.cpp
@@ -147,8 +147,11 @@ void DepthChannel::_createPipeline(size_t size) {
#ifdef HAVE_LIBSGM
pipe_->append<ftl::operators::FixstarsSGM>("algorithm");
#else
+ // TODO fix windows build
+ #ifndef _MSC_VER
pipe_->append<ftl::operators::StereoDisparity>("algorithm");
#endif
+ #endif
pipe_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
//pipe_->append<ftl::operators::OpticalFlowTemporalSmoothing>("optflow_filter", Channel::Disparity);
pipe_->append<ftl::operators::DisparityToDepth>("calculate_depth");
diff --git a/lib/libstereo/src/stereo_censussgm.cu b/lib/libstereo/src/stereo_censussgm.cu
index ec96e7d64..d707e7846 100644
--- a/lib/libstereo/src/stereo_censussgm.cu
+++ b/lib/libstereo/src/stereo_censussgm.cu
@@ -53,20 +53,18 @@ struct StereoCensusSgm::Impl {
//DisparitySpaceImage<unsigned short> dsi;
CensusMatchingCost cost;
Array2D<unsigned short> cost_min_paths;
- Array2D<float> confidence;
+ Array2D<unsigned short> uncertainty;
Array2D<float> disparity_r;
Array2D<uchar> l;
Array2D<uchar> r;
- cv::Mat uncertainty;
-
PathAggregator<StandardSGM<CensusMatchingCost::DataType>> aggr;
WinnerTakesAll<DSImage16U,float> wta;
Impl(int width, int height, int min_disp, int max_disp) :
cost(width, height, min_disp, max_disp),
cost_min_paths(width, height),
- confidence(width, height),
+ uncertainty(width, height),
disparity_r(width, height), l(width, height), r(width, height) {}
};
@@ -111,14 +109,16 @@ void StereoCensusSgm::compute(cv::InputArray l, cv::InputArray r, cv::OutputArra
// Bioinformatics). https://doi.org/10.1007/978-3-319-11752-2_4
if (disparity.isGpuMat()) {
- cv::cuda::subtract(impl_->wta.min_cost.toGpuMat(), impl_->cost_min_paths.toGpuMat(), impl_->uncertainty);
+ auto uncertainty = impl_->uncertainty.toGpuMat();
+ cv::cuda::subtract(impl_->wta.min_cost.toGpuMat(), impl_->cost_min_paths.toGpuMat(), uncertainty);
cv::cuda::compare(uncertainty, params.uniqueness, uncertainty, cv::CMP_GT);
impl_->wta.disparity.toGpuMat().setTo(0, uncertainty);
}
else {
- cv::subtract(impl_->wta.min_cost.toMat(), impl_->cost_min_paths.toMat(), impl_->uncertainty);
+ auto uncertainty = impl_->uncertainty.toMat();
+ cv::subtract(impl_->wta.min_cost.toMat(), impl_->cost_min_paths.toMat(), uncertainty);
cv::compare(uncertainty, params.uniqueness, uncertainty, cv::CMP_GT);
- impl_->wta.disparity.toMat().setTo(0, uncertainty);
+ impl_->wta.disparity.toGpuMat().setTo(0, uncertainty);
}
median_filter(impl_->wta.disparity, disparity);
--
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