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Merge branch 'master' of https://github.com/introlab/rtabmap into devel

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matlabbe
2015-06-18 23:04:14 -04:00
parent 82943e85e8 6fe1e42181
commit b0a20abd66
17 changed files with 450 additions and 253 deletions
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corelib/src/util2d.cpp
+15 -2
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@@ -58,7 +58,8 @@ cv::Mat disparityFromStereoImages(
{
leftMono = leftImage;
}
cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET);
stereo.state->SADWindowSize = 15;
stereo.state->minDisparity = 0;
@@ -69,8 +70,20 @@ cv::Mat disparityFromStereoImages(
stereo.state->textureThreshold = 10;
stereo.state->speckleWindowSize = 100;
stereo.state->speckleRange = 4;
cv::Mat disparity;
stereo(leftMono, rightImage, disparity, CV_16SC1);
#else
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create();
stereo->setBlockSize(15);
stereo->setMinDisparity(0);
stereo->setNumDisparities(64);
stereo->setPreFilterSize(9);
stereo->setPreFilterCap(31);
stereo->setUniquenessRatio(15);
stereo->setTextureThreshold(10);
stereo->setSpeckleWindowSize(100);
stereo->setSpeckleRange(4);
stereo->compute(leftMono, rightImage, disparity);
#endif
return disparity;
}