Initialization

components/rgbd-sources/src/algorithms/fixstars_sgm.cpp

@@ -25,7 +25,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 	cv::cvtColor(l, lbw, cv::COLOR_BGR2GRAY);
 	cv::cvtColor(r, rbw, cv::COLOR_BGR2GRAY);
 
-	if (!ssgm_) {
+	if (!ssgm_) { // todo: move to constructor
 		ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16,
 			sgm::EXECUTE_INOUT_HOST2HOST,
 			sgm::StereoSGM::Parameters(10,120,0.95f,true));
@@ -60,6 +60,13 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 
 void FixstarsSGM::setMask(Mat &mask) {
 	LOG_ASSERT(mask.type() == CV_8UC1) << "mask type must be CV_8U";
+	
+	if (!ssgm_) { // todo: move to constructor
+		ssgm_ = new sgm::StereoSGM(mask.cols, mask.rows, max_disp_, 8, 16,
+			sgm::EXECUTE_INOUT_HOST2HOST,
+			sgm::StereoSGM::Parameters(10,120,0.95f,true));
+	}
+	
 	mask_l_ = mask;
-	ssgm_->setMask((uint8_t*) &mask.data, mask.cols);
+	ssgm_->setMask((uint8_t*) mask.data, mask.cols);
 }
\ No newline at end of file