From 9494c8911dada1eb7f7a745e0017a424fe5143ab Mon Sep 17 00:00:00 2001 From: Tae-Young Chung Date: Wed, 20 Oct 2021 13:22:44 +0900 Subject: [PATCH] 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 --- src/dfs_opencv.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp index 9fb7397..4a8b332 100644 --- 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; -- 2.7.4