diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp index 14be06f2c5f21f065a0e63a7d3b553b2a46dd289..e6d14d05707067233c2e98a93aa6c506c9e959e2 100644 --- a/applications/vision/src/main.cpp +++ b/applications/vision/src/main.cpp @@ -143,7 +143,14 @@ static void run(const string &file) { // Send RGB+Depth images for local rendering if (prgb.rows > 0) display.render(prgb, pdepth, source->getParameters()); - if (config["display"]["right"]) cv::imshow("Right: ", source->getRight()); + if (config["display"]["right"]) { + Mat rgbr = source->getRight().clone(); + cv::namedWindow("Right: ", cv::WINDOW_KEEPRATIO); + cv::line(rgbr, cv::Point(0, rgbr.rows/2), cv::Point(rgbr.cols-1, rgbr.rows/2), cv::Scalar(0,0,255), 1); + cv::line(rgbr, cv::Point(rgbr.cols/2, 0), cv::Point(rgbr.cols/2, rgbr.rows-1), cv::Scalar(0,0,255), 1); + cv::imshow("Right: ", rgbr); + } + display.wait(1); // Wait for both pipelines to complete diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp index 7f43b5240c5aea924d2bda8b5ce7b3fa25c1b7f3..012dffa12947b067f0f09b83d605fa756b75b329 100644 --- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp +++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp @@ -22,7 +22,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) { Mat right_disp; Mat lbw, rbw; - cv::cvtColor(l, lbw, cv::COLOR_BGR2GRAY); + cv::cvtColor(l, lbw, cv::COLOR_BGR2GRAY); cv::cvtColor(r, rbw, cv::COLOR_BGR2GRAY); if (!ssgm_) { @@ -56,4 +56,4 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) { } disp.convertTo(disp, CV_32F, 1.0f/16.0f); -} \ No newline at end of file +}