From c3e27cfaf513a80d44e8d6a8fd7f8c477453b831 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 4 Jun 2024 11:33:01 -0700 Subject: [PATCH] point_cloud_xyzrgb: add support for SGBM parameters --- rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp b/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp index f17bc7043..b57075ca5 100644 --- 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;