From bbe10444a1913bf3dd2fd97face93320a3c3b0b4 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 4 Apr 2019 09:42:55 +0300
Subject: [PATCH] Fix elas bug and try different parameters
---
cv-node/src/algorithms/elas.cpp | 13 ++++++++++---
1 file changed, 10 insertions(+), 3 deletions(-)
diff --git a/cv-node/src/algorithms/elas.cpp b/cv-node/src/algorithms/elas.cpp
index c2cb3b6b6..990c25b5c 100644
--- a/cv-node/src/algorithms/elas.cpp
+++ b/cv-node/src/algorithms/elas.cpp
@@ -9,7 +9,16 @@ using cv::Mat;
static ftl::Disparity::Register elass("elas", ELAS::create);
ELAS::ELAS(nlohmann::json &config) : Disparity(config) {
+ // TODO(nick) See if these can improve the situation
param_.postprocess_only_left = true;
+ param_.disp_min = 0;
+ param_.disp_max = config["maximum"];
+ param_.add_corners = 0;
+ param_.gamma = 3;
+ param_.sradius = 2;
+ param_.match_texture = 1;
+ param_.ipol_gap_width = 3;
+ param_.support_threshold = 0.85;
elas_ = new Elas(param_);
}
@@ -24,7 +33,7 @@ void ELAS::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
disp = Mat(cv::Size(l.cols, l.rows), CV_32F);
Mat dispr(cv::Size(l.cols, l.rows), CV_32F);
- const int32_t dims[3] = {l.cols,l.rows,l.step/sizeof(float)};
+ const int32_t dims[3] = {l.cols,l.rows,lbw.step};
if (disp.step/sizeof(float) != lbw.step) LOG(WARNING) << "Incorrect disparity step";
@@ -37,5 +46,3 @@ void ELAS::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
//disp.convertTo(disp, CV_32F, 1.0f);
}
-
-
--
GitLab