diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp index 278561f945d243cfe2f624f5aab6c231623d709a..7f43b5240c5aea924d2bda8b5ce7b3fa25c1b7f3 100644 --- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp +++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp @@ -12,6 +12,8 @@ using cv::Mat; FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) { ssgm_ = nullptr; use_filter_ = config.value("use_filter", false); + // note: (max_disp_ << 4) libsgm subpixel accuracy. + // What is the impact in the filter? (possible artifacts) filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, config.value("filter_radius", 25), config.value("filter_iter", 1)); }