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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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Alexander Alekhin
2019-11-04 09:58:29 +00:00
parent 0ca5f68d72 53139e6ebe
commit 0d7f770996
18 changed files with 1360 additions and 1016 deletions
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samples/cpp/stereo_match.cpp
+12 -1
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@@ -247,10 +247,19 @@ int main(int argc, char** argv)
//copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
int64 t = getTickCount();
float disparity_multiplier = 1.0f;
if( alg == STEREO_BM )
{
bm->compute(img1, img2, disp);
if (disp.type() == CV_16S)
disparity_multiplier = 16.0f;
}
else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_3WAY )
{
sgbm->compute(img1, img2, disp);
if (disp.type() == CV_16S)
disparity_multiplier = 16.0f;
}
t = getTickCount() - t;
printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
@@ -281,7 +290,9 @@ int main(int argc, char** argv)
printf("storing the point cloud...");
fflush(stdout);
Mat xyz;
reprojectImageTo3D(disp, xyz, Q, true);
Mat floatDisp;
disp.convertTo(floatDisp, CV_32F, 1.0f / disparity_multiplier);
reprojectImageTo3D(floatDisp, xyz, Q, true);
saveXYZ(point_cloud_filename.c_str(), xyz);
printf("\n");
}