Disable sub pixel accuracy in libSGM if filter is used (accuracy is lost in...

Disable sub pixel accuracy in libSGM if filter is used (accuracy is lost in conversion when disparityBilateralFilter is used)

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

@@ -12,7 +12,9 @@ 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));
+	// 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));
 }
 
 void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
@@ -20,7 +22,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 	Mat right_disp;
 
 	Mat lbw, rbw;
-	cv::cvtColor(l, lbw,  cv::COLOR_BGR2GRAY);
+	cv::cvtColor(l, lbw, cv::COLOR_BGR2GRAY);
 	cv::cvtColor(r, rbw, cv::COLOR_BGR2GRAY);
 
 	if (!ssgm_) {
@@ -54,4 +56,4 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 	}
 	
 	disp.convertTo(disp, CV_32F, 1.0f/16.0f);
-}
\ No newline at end of file
+}