point_cloud_xyzrgb: add support for SGBM parameters

introlab · Jun 4, 2024 · c3e27cf · c3e27cf
1 parent a8cefa9
commit c3e27cf
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp b/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
@@ -161,6 +161,8 @@ class PointCloudXYZRGB : public nodelet::Nodelet
 
 		// StereoBM parameters
 		stereoBMParameters_ = rtabmap::Parameters::getDefaultParameters("StereoBM");
+		uInsert(stereoBMParameters_, rtabmap::Parameters::getDefaultParameters("StereoSGBM"));
+		stereoBMParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kStereoDenseStrategy(), uNumber2Str(rtabmap::Parameters::defaultStereoDenseStrategy())));
 		for(rtabmap::ParametersMap::iterator iter=stereoBMParameters_.begin(); iter!=stereoBMParameters_.end(); ++iter)
 		{
 			std::string vStr;