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Merge pull request #15789 from CJSmith-0141:15779-scale-bug-in-stereo-match-sample

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* Changes disparity image to float representation

Signed-off-by: Connor James Smith <cjs.connor.smith@gmail.com>

* samples: update disparity multiplier handling in stereo_match.cpp
This commit is contained in:
CJ Smith 2019-10-31 15:29:04 -04:00 committed by Alexander Alekhin
parent af433d0352
commit c2f2ea6b85
1 changed files with 12 additions and 1 deletions
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13
samples/cpp/stereo_match.cpp
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@ -247,10 +247,19 @@ int main(int argc, char** argv)
//copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE); //copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
int64 t = getTickCount(); int64 t = getTickCount();
float disparity_multiplier = 1.0f;
if( alg == STEREO_BM ) if( alg == STEREO_BM )
{
bm->compute(img1, img2, disp); 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 ) else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_3WAY )
{
sgbm->compute(img1, img2, disp); sgbm->compute(img1, img2, disp);
if (disp.type() == CV_16S)
disparity_multiplier = 16.0f;
}
t = getTickCount() - t; t = getTickCount() - t;
printf("Time elapsed: %fms\n", t*1000/getTickFrequency()); printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
@ -281,7 +290,9 @@ int main(int argc, char** argv)
printf("storing the point cloud..."); printf("storing the point cloud...");
fflush(stdout); fflush(stdout);
Mat xyz; 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); saveXYZ(point_cloud_filename.c_str(), xyz);
printf("\n"); printf("\n");
} }