Merge pull request #4190 from sbokov:fixingStereoBMissue

10 years ago · 0726c4d4ea
parent ae71f0c086 e0cea92f6e
commit 0726c4d4ea
1 changed files with 9 additions and 1 deletions
--- a/modules/calib3d/src/stereosgbm.cpp
+++ b/modules/calib3d/src/stereosgbm.cpp
@ -1157,6 +1157,10 @@ void cv::validateDisparity( InputOutputArray _disp, InputArray _cost, int minDis
            for( x = minX1; x < maxX1; x++ )
            {
                int d = dptr[x], c = cptr[x];
+
+                if( d == INVALID_DISP_SCALED )
+                    continue;
+
                int x2 = x - ((d + DISP_SCALE/2) >> DISP_SHIFT);

                if( disp2cost[x2] > c )
@ -1173,9 +1177,13 @@ void cv::validateDisparity( InputOutputArray _disp, InputArray _cost, int minDis
            for( x = minX1; x < maxX1; x++ )
            {
                int d = dptr[x], c = cptr[x];
+
+                if( d == INVALID_DISP_SCALED )
+                    continue;
+
                int x2 = x - ((d + DISP_SCALE/2) >> DISP_SHIFT);

-                if( disp2cost[x2] < c )
+                if( disp2cost[x2] > c )
                {
                    disp2cost[x2] = c;
                    disp2buf[x2] = d;