From 47ccc638a81c52ec4ae372686ba294b4e996c09e Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 24 May 2019 13:12:28 +0300
Subject: [PATCH] Added a note about max_disp
---
components/rgbd-sources/src/algorithms/fixstars_sgm.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 278561f94..7f43b5240 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));
}
--
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