config file options

components/rgbd-sources/src/algorithms/fixstars_sgm.cpp

@@ -37,7 +37,14 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
 		filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, radius, iter);
 	}
 	
-	off_ = ftl::rgbd::OFDisparityFilter(size_, 9, 0.9);
+	bool use_off_ = value("use_off", false);
+
+	if (use_off_)
+	{
+		int off_size = value("off_size", 9);
+		double off_threshold = value("off_threshold", 0.9);
+		off_ = ftl::rgbd::OFDisparityFilter(size_, off_size, off_threshold);
+	}
 
 	init(size_);
 }
@@ -97,10 +104,13 @@ void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
 	}
 
 	dispt_full_res_.convertTo(disp, CV_32F, 1.0f / 16.0f, stream);
+
+	if (use_off_) {
 		Mat disp_host(disp);
 		off_.filter(disp_host, Mat(lbw_));
 		disp.upload(disp_host);
 	}
+}
 
 void FixstarsSGM::setMask(Mat &mask) {
 	return; // TODO(Nick) Not needed, but also code below does not work with new GPU pipeline

components/rgbd-sources/src/algorithms/fixstars_sgm.hpp

@@ -44,6 +44,7 @@ namespace ftl {
 			int P2_;
 			cv::Size size_;
 			bool use_filter_;
+			bool use_off_;
 			cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
 			sgm::StereoSGM *ssgm_;
 			cv::cuda::GpuMat lbw_;