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point_cloud_xyzrgb: add support for SGBM parameters

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matlabbe
2024-06-04 11:33:01 -07:00
parent a8cefa9a4d
commit c3e27cfaf5
1 changed files with 2 additions and 0 deletions
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rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
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@@ -161,6 +161,8 @@ private:
// StereoBM parameters // StereoBM parameters
stereoBMParameters_ = rtabmap::Parameters::getDefaultParameters("StereoBM"); stereoBMParameters_ = rtabmap::Parameters::getDefaultParameters("StereoBM");
uInsert(stereoBMParameters_, rtabmap::Parameters::getDefaultParameters("StereoSGBM"));
stereoBMParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kStereoDenseStrategy(), uNumber2Str(rtabmap::Parameters::defaultStereoDenseStrategy())));
for(rtabmap::ParametersMap::iterator iter=stereoBMParameters_.begin(); iter!=stereoBMParameters_.end(); ++iter) for(rtabmap::ParametersMap::iterator iter=stereoBMParameters_.begin(); iter!=stereoBMParameters_.end(); ++iter)
{ {
std::string vStr; std::string vStr;