StereoBM/StereoSGBM: Thresholding output to zero when minDisparity is…

… used
introlab · Sep 17, 2023 · fb466a6 · fb466a6
1 parent 0b7181f
commit fb466a6
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Showing 2 changed files with 16 additions and 0 deletions.
diff --git a/corelib/src/stereo/StereoBM.cpp b/corelib/src/stereo/StereoBM.cpp
@@ -121,6 +121,14 @@ cv::Mat StereoBM::computeDisparity(
  stereo->setDisp12MaxDiff(disp12MaxDiff_);
  stereo->compute(leftMono, rightImage, disparity);
 #endif
+
+ if(minDisparity_>0)
+ {
+ cv::Mat dst;
+ cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
+ disparity = dst;
+ }
+
  return disparity;
 }
 

diff --git a/corelib/src/stereo/StereoSGBM.cpp b/corelib/src/stereo/StereoSGBM.cpp
@@ -113,6 +113,14 @@ cv::Mat StereoSGBM::computeDisparity(
  mode_);
  stereo->compute(leftMono, rightImage, disparity);
 #endif
+
+ if(minDisparity_>0)
+ {
+ cv::Mat dst;
+ cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
+ disparity = dst;
+ }
+
  return disparity;
 }