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Commit 4b3771ce authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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modified the sub-pixel disparity interpolation (by K. Konolige)

parent c4631573
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Showing with 4 additions and 4 deletions
modules/calib3d/src/stereobm.cpp
View file @ 4b3771ce
......@@ -492,8 +492,8 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
if( 0 < mind && mind < ndisp - 1 )
{
int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind];
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*128/d : 0) + 15) >> 4);
int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
}
else
dptr[y*dstep] = (short)((ndisp - mind - 1)*16);
......@@ -662,8 +662,8 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
{
sad[-1] = sad[1];
sad[ndisp] = sad[ndisp-2];
int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind];
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*128/d : 0) + 15) >> 4);
int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
costptr[y*coststep] = sad[mind];
}
}
......
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