From 48afb8e8ffc028ee12c3dce1763826edc8a1de62 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 24 May 2019 12:47:36 +0300
Subject: [PATCH] Disable sub pixel accuracy in libSGM if filter is used
(accuracy is lost in conversion when disparityBilateralFilter is used)
---
.../src/algorithms/fixstars_sgm.cpp | 21 ++++++++++++++++---
.../src/algorithms/fixstars_sgm.hpp | 3 +++
config/config.json | 5 ++++-
3 files changed, 25 insertions(+), 4 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 80f7abd92..24d1435cd 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -2,6 +2,7 @@
#include "fixstars_sgm.hpp"
#include <glog/logging.h>
+#include <opencv2/cudastereo.hpp>
using ftl::algorithms::FixstarsSGM;
using cv::Mat;
@@ -10,6 +11,8 @@ using cv::Mat;
FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
ssgm_ = nullptr;
+ use_filter_ = config.value("use_filter", false);
+ filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_, config.value("filter_radius", 25), config.value("filter_iter", 1));
}
void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
@@ -26,7 +29,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
sgm::StereoSGM::Parameters(10,120,0.95f,true));
}
- disp = Mat(cv::Size(l.cols, l.rows), CV_16UC1);
+ disp = Mat(cv::Size(l.cols, l.rows), CV_16SC1);
//auto start = std::chrono::high_resolution_clock::now();
ssgm_->execute(lbw.data, rbw.data, disp.data);
@@ -35,8 +38,20 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
//LOG(INFO) << "CUDA sgm in " << elapsed.count() << "s";
// todo: fix libSGM (return float data or provide mask separately)
- // (256 << 5) coded in libSGM consistency check
+ // disparity values set to (256 << 5) in libSGM consistency check
Mat bad_pixels = (disp == (256 << 5));
+ disp.setTo(0, bad_pixels);
+
+ if (use_filter_) {
+ cv::cuda::GpuMat l_gpu, disp_gpu, disp_gpu_out;
+ // parameters need benchmarking, impact of image
+ // quick tests show with parameters (max_disp_, 25, 3)
+ // roughly 50% in disparity calculation and 50% in filter
+ disp_gpu.upload(disp);
+ l_gpu.upload(l);
+ filter_->apply(disp_gpu, l_gpu, disp_gpu_out);
+ disp_gpu_out.download(disp);
+ }
+
disp.convertTo(disp, CV_32F, 1.0f/16.0f);
- disp.setTo(0, bad_pixels); // decide how bad values should be represented
}
\ No newline at end of file
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
index 76ca63185..1e78aba89 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
@@ -9,6 +9,7 @@
#include <opencv2/opencv.hpp>
#include <libsgm.h>
#include "../disparity.hpp"
+#include <opencv2/cudastereo.hpp>
namespace ftl {
namespace algorithms {
@@ -32,6 +33,8 @@ class FixstarsSGM : public ftl::Disparity {
}
private:
+ bool use_filter_;
+ cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
sgm::StereoSGM *ssgm_;
};
};
diff --git a/config/config.json b/config/config.json
index 215a704c3..300c43352 100644
--- a/config/config.json
+++ b/config/config.json
@@ -51,7 +51,10 @@
"gamma": 0.0,
"window_size": 5,
"sigma": 1.5,
- "lambda": 8000.0
+ "lambda": 8000.0,
+ "use_filter": true,
+ "filter_radius": 20,
+ "filter_iter": 3
},
"display": {
"flip_vert": false,
--
GitLab