Convert disparity to CV_8UC1 and scale down to 1/16

SGBM outs disparity map as CV_16SC type after scaling up 16 times.
To dump and check disparity results, convert them CV_8UC1 and
scale down to 1/16.

Signed-off-by: Tae-Young Chung <ty83.chung@samsung.com>

diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp
index 9fb7397..4a8b332 100644 (file)
--- a/src/dfs_opencv.cpp
+++ b/src/dfs_opencv.cpp
@@ -225,11 +225,12 @@ namespace DfsAdaptationImpl
                        throw std::runtime_error("base and extra should be the type");
                }
 
-               cv::Mat rBaseMat, rExtraMat;
+               cv::Mat rBaseMat, rExtraMat, dispMat;
                cv::remap(baseMat, rBaseMat, mBaseReMap[0], mBaseReMap[1], cv::INTER_LINEAR);
                cv::remap(extraMat, rExtraMat, mExtraReMap[0], mExtraReMap[1], cv::INTER_LINEAR);
 
-               mDfsOcv->compute(rBaseMat, rExtraMat, mDispMat);
+               mDfsOcv->compute(rBaseMat, rExtraMat, dispMat);
+               dispMat.convertTo(mDispMat, CV_8UC1, 1.0/16.0);
 
                mDepthData.data = mDispMat.data;
                mDepthData.type = DFS_DATA_TYPE_UINT8;