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StereoBM/StereoSGBM: Thresholding output to zero when minDisparity is used

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matlabbe
2023-09-16 17:43:00 -07:00
parent 0b7181fc88
commit fb466a6a96
2 changed files with 16 additions and 0 deletions
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8
corelib/src/stereo/StereoBM.cpp
View File

@@ -121,6 +121,14 @@ cv::Mat StereoBM::computeDisparity(
stereo->setDisp12MaxDiff(disp12MaxDiff_);
stereo->compute(leftMono, rightImage, disparity);
#endif
if(minDisparity_>0)
{
cv::Mat dst;
cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
disparity = dst;
}
return disparity;
}

8
corelib/src/stereo/StereoSGBM.cpp
View File

@@ -113,6 +113,14 @@ cv::Mat StereoSGBM::computeDisparity(
mode_);
stereo->compute(leftMono, rightImage, disparity);
#endif
if(minDisparity_>0)
{
cv::Mat dst;
cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
disparity = dst;
}
return disparity;
}