Add comments

cv-node/CMakeLists.txt

@@ -11,8 +11,8 @@ enable_testing()
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
 
-if (WIN32)
 find_package( glog REQUIRED )
+if (WIN32)
 include_directories(${glog_DIR})
 endif (WIN32)
 find_package( OpenCV REQUIRED )
@@ -61,8 +61,8 @@ if (UNIX)
 endif (UNIX)
 
 add_definitions("-DFTL_CONFIG_ROOT=${FTL_CONFIG_ROOT}")
-add_definitions(-DFTL_CACHE_ROOT=${FTL_CACHE_ROOT})
-add_definitions(-DFTL_DATA_ROOT=${FTL_DATA_ROOT})
+add_definitions("-DFTL_CACHE_ROOT=${FTL_CACHE_ROOT}")
+add_definitions("-DFTL_DATA_ROOT=${FTL_DATA_ROOT}")
 
 set(CMAKE_CXX_FLAGS "-std=c++17 -Wall")
 set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -pg -Wall")
@@ -83,7 +83,6 @@ set(CVNODESRC
 
 if (LIBSGM_FOUND)
 	list(APPEND CVNODESRC "src/algorithms/fixstars_sgm.cpp")
-	message("Cuda libraries at ${CUDA_LIBRARIES}")
 endif (LIBSGM_FOUND)
 
 if (CUDA_FOUND)

cv-node/src/algorithms/rtcensus.cu

@@ -113,6 +113,7 @@ __global__ void disp_kernel(float *disp_l, float *disp_r, size_t width, size_t h
 		int dix1 = 0;
 		int dix2 = 0;
 		
+		// TODO Use prediction textures to narrow range
 		for (size_t d=0; d<ds; d++) {
 			uint16_t hamming1 = 0;
 			uint16_t hamming2 = 0;
@@ -159,6 +160,7 @@ __global__ void disp_kernel(float *disp_l, float *disp_r, size_t width, size_t h
 		//float d1 = (dix1 == 0 || dix1 == ds-1) ? (float)dix1 : fit_parabola(dix1, min_disp1, min_before1, min_after1);
 		//float d2 = (dix2 == 0 || dix2 == ds-1) ? (float)dix2 : fit_parabola(dix2, min_disp2, min_before2, min_after2);
 	
+		// TODO Allow for discontinuities with threshold
 		float d1 = fit_parabola(dix1, min_disp1, min_before1, min_after1);
 		float d2 = fit_parabola(dix2, min_disp2, min_before2, min_after2);
 	
@@ -187,6 +189,8 @@ __global__ void consistency_kernel(float *d_sub_l, float *d_sub_r, PtrStepSz<flo
 		
 		auto b = d_sub_r[v*w+u-a];
 		
+		// TODO, if rejected, use semantic info to borrow neighbour
+		
 		if (abs(a-b) <= 1.0) disp(v,u) = abs((a+b)/2);
 		else disp(v,u) = 0.0f;
 	//}