Merge pull request #4190 from sbokov:fixingStereoBMissue

0726c4d4 · Maksim Shabunin · ae71f0c0 · e0cea92f · 0726c4d4
Commit 0726c4d4 authored Jul 15, 2015 by Maksim Shabunin
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Showing with 9 additions and 1 deletion

stereosgbm.cpp modules/calib3d/src/stereosgbm.cpp +9 -1

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--- 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;