remove cpu code

components/rgbd-sources/src/offilter.cpp

@@ -18,7 +18,6 @@ template<typename T> static bool inline isValidDisparity(T d) { return (0.0 < d)
 OFDisparityFilter::OFDisparityFilter(Size size, int n_frames, float threshold) :
 	n_(0), n_max_(n_frames), threshold_(threshold), size_(size)
 {
-	
 	disp_ = Mat::zeros(cv::Size(size.width * n_frames, size.height), CV_64FC1);
 	disp_old_ = cv::cuda::GpuMat(cv::Size(size.width * n_frames, size.height), CV_32FC1);
 	gray_ = Mat::zeros(size, CV_8UC1);
@@ -37,7 +36,6 @@ void OFDisparityFilter::filter(cv::cuda::GpuMat &disp, const cv::cuda::GpuMat &o
 
 void OFDisparityFilter::filter(Mat &disp, const Mat &gray)
 {
-
 	const int n = n_;
 	n_ = (n_ + 1) % n_max_;
 	nvof_->calc(gray, gray_, flowxy_);
@@ -54,75 +52,6 @@ void OFDisparityFilter::filter(Mat &disp, const Mat &gray)
 	GpuMat disp_gpu(disp);
 	filter(disp_gpu, GpuMat(flowxy_up_));
 	disp_gpu.download(disp);
-	return;
-
-	vector<float> values(n_max_);
-
-	for (int y = 0; y < size_.height; y++)
-	{
-		float *D = disp_.ptr<float>(y);
-		float *d = disp.ptr<float>(y);
-		float *flow = flowxy_up_.ptr<float>(y);
-
-		for (int x = 0; x < size_.width; x++)
-		{
-			const float flow_l1 = abs(flow[2*x]) + abs(flow[2*x + 1]);
-
-			if (flow_l1 < threshold_)
-			{
-				values.clear();
-
-				if (isValidDisparity(d[x]))
-				{
-					bool updated = false;
-					for (int i = 0; i < n_max_; i++)
-					{
-						float &val = D[n_max_ * x + (n_max_ - i + n) % n_max_];
-						if (!isValidDisparity(val))
-						{
-							val = d[x];
-							updated = true;
-						}
-					}
-					if (!updated) { D[n_max_ * x + n] = d[x]; }
-				}
-
-				for (int i = 0; i < n_max_; i++)
-				{
-					float &val = D[n_max_ * x + i];
-					if (isValidDisparity(val)) { values.push_back(val); }
-				}
-
-				if (values.size() > 0) {
-					const auto median_it = values.begin() + values.size() / 2;
-					std::nth_element(values.begin(), median_it , values.end());
-					d[x] = *median_it;
-				}
-
-				/*
-				if (isValidDepth(d[x]) && isValidDepth(D[x]))
-				{
-					D[x] = D[x] * 0.66 + d[x] * (1.0 - 0.66);
-				}
-				if (isValidDepth(D[x]))
-				{
-					d[x] = D[x];
-				}
-				else
-				{
-					D[x] = d[x];
-				}
-				*/
-			}
-			else
-			{
-				for (int i = 0; i < n_max_; i++)
-				{
-					D[n_max_ * x + i] = 0.0;
-				}
-			}
-		}
-	}
 }
 
 #endif  // HAVE_OPTFLOW