From fef3385cc95b8f33bc7a99ceae7082e6293477df Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 26 Jun 2019 16:22:31 +0300
Subject: [PATCH] fix: pass uniqueness to libsgm
---
components/rgbd-sources/src/algorithms/fixstars_sgm.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index f8f578778..73d853e9c 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -25,7 +25,7 @@ void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
if (!ssgm_) { // todo: move to constructor
dispt_ = GpuMat(l.rows, l.cols, CV_16SC1);
ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, lbw_.step, dispt_.step / sizeof(short),
- sgm::EXECUTE_INOUT_CUDA2CUDA, sgm::StereoSGM::Parameters(10,120,0.95f,true));
+ sgm::EXECUTE_INOUT_CUDA2CUDA, sgm::StereoSGM::Parameters(10, 120, uniqueness_, true));
}
//auto start = std::chrono::high_resolution_clock::now();
@@ -61,7 +61,7 @@ void FixstarsSGM::setMask(Mat &mask) {
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));
+ sgm::StereoSGM::Parameters(10, 120, uniqueness_, true));
}
mask_l_ = mask;
--
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