From 4cfa69fb3e715b1cfb0efb027c99e56bee52a0cf Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 21 Mar 2019 14:23:40 +0200
Subject: [PATCH] Probably best yet for rtcensus filtering
---
cv-node/src/algorithms/rtcensus.cu | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/cv-node/src/algorithms/rtcensus.cu b/cv-node/src/algorithms/rtcensus.cu
index d9a92df23..a041e7b29 100644
--- a/cv-node/src/algorithms/rtcensus.cu
+++ b/cv-node/src/algorithms/rtcensus.cu
@@ -329,6 +329,8 @@ __global__ void filter_kernel(cudaTextureObject_t t, cudaTextureObject_t d,
neigh = tex2D<unsigned char>(nTex, u+n, v+m);
}
+ if (m+n == 0) continue;
+
if (ndisp > 1.0f && !isnan(ndisp) && (abs(neigh-pixel) <= FILTER_SIM_THRESH)) { // && (isnan(disp) || abs(ndisp-disp) < FILTER_DISP_THRESH)) {
est += ndisp;
nn++;
@@ -339,7 +341,8 @@ __global__ void filter_kernel(cudaTextureObject_t t, cudaTextureObject_t d,
// Texture map filtering
int tm = (neigh_sq / (15*15)) - ((neigh_sum*neigh_sum) / (15*15));
if (tm >= -9000000 && (abs(ppixel-pixel) > FILTER_SIM_THRESH || abs(pdisp - disp) <= FILTER_DISP_THRESH) ) {
- f(v,u) = disp; // = (nn==0) ? NAN : est / nn;
+ if (nn > 2) f(v,u) = (nn==0) ? NAN : (est+disp) / (nn+1);
+ else f(v,u) = NAN;
} else {
f(v,u) = NAN;
}
--
GitLab