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

… used
introlab · Sep 17, 2023 · fb466a6 · fb466a6
1 parent 0b7181f
commit fb466a6
Show file tree

Hide file tree

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;
 }