Initial commit: Speckle-Scanner 3D pipeline with setup README

05_disparity/libsgm/sample/sample_common.cpp

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+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#include "sample_common.h"
+
+#include <opencv2/imgproc.hpp>
+
+void colorize_disparity(const cv::Mat& src, cv::Mat& dst, int disp_size, cv::InputArray mask)
+{
+	cv::Mat tmp;
+	src.convertTo(tmp, CV_8U, 255. / disp_size);
+	cv::applyColorMap(tmp, dst, cv::COLORMAP_TURBO);
+
+	if (!mask.empty())
+		dst.setTo(0, mask);
+}