Feature/libsgm mask

Changed the interface, mask is set using setMask() method instead of as parameter to compute().

Build fails without updated libSGM which contains the new method for setting mask (installed on Windows node-1).

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

@@ -17,7 +17,7 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
 	filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, config.value("filter_radius", 25), config.value("filter_iter", 1));
 }
 
-void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp, const cv::Mat &mask_l) {
+void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 	Mat left_disp;
 	Mat right_disp;
 
@@ -25,7 +25,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp, con
 	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));
@@ -43,7 +43,6 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp, con
 	// disparity values set to (256 << 5) in libSGM consistency check 
 	Mat bad_pixels = (disp == (256 << 5)); 
 	disp.setTo(0, bad_pixels);
-	disp.setTo(0, mask_l);
 	
 	if (use_filter_) {
 		cv::cuda::GpuMat l_gpu, disp_gpu, disp_gpu_out;
@@ -59,7 +58,15 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp, con
 	disp.convertTo(disp, CV_32F, 1.0f/16.0f);
 }
 
-void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
-	// todo: allow using without mask
-	LOG(FATAL) << "libSGM: not using mask (required)!";
-}
+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);
+}
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