From f147be2c58b64f9b4ae411e5731455123a30afdf Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 1 Jul 2019 20:50:16 +0300
Subject: [PATCH] Correction to correction
---
components/rgbd-sources/src/middlebury_source.cpp | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/components/rgbd-sources/src/middlebury_source.cpp b/components/rgbd-sources/src/middlebury_source.cpp
index 89bb253c1..463491439 100644
--- a/components/rgbd-sources/src/middlebury_source.cpp
+++ b/components/rgbd-sources/src/middlebury_source.cpp
@@ -86,6 +86,7 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
host_->getConfig()["centre_x"] = params_.cx;
host_->getConfig()["centre_y"] = params_.cy;
host_->getConfig()["baseline"] = params_.baseline;
+ host_->getConfig()["doffs"] = params_.doffs;
// Add event handlers to allow calibration changes...
host_->on("baseline", [this](const ftl::config::Event &e) {
@@ -97,6 +98,10 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
params_.fy = params_.fx;
});
+ host_->on("doffs", [this](const ftl::config::Event &e) {
+ params_.doffs = host_->value("doffs", params_.doffs);
+ });
+
host_->on("centre_x", [this](const ftl::config::Event &e) {
params_.cx = host_->value("centre_x", params_.cx);
});
@@ -137,7 +142,6 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
}
static void disparityToDepth(const cv::cuda::GpuMat &disparity, cv::cuda::GpuMat &depth,
- const cv::cuda::GpuMat &mask,
const ftl::rgbd::Camera &c, cv::cuda::Stream &stream) {
double val = c.baseline * c.fx;
cv::cuda::add(disparity, c.doffs, depth, cv::noArray(), -1, stream);
@@ -190,7 +194,7 @@ void MiddleburySource::_performDisparity() {
}
bool MiddleburySource::grab(int n, int b) {
- //_performDisparity();
+ _performDisparity();
return true;
}
--
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