From 5d81e76b6356267857f17fccf1bbe772aa781d3d Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 19 Mar 2019 17:31:45 +0200
Subject: [PATCH] Add comments
---
cv-node/CMakeLists.txt | 7 +++----
cv-node/src/algorithms/rtcensus.cu | 4 ++++
2 files changed, 7 insertions(+), 4 deletions(-)
diff --git a/cv-node/CMakeLists.txt b/cv-node/CMakeLists.txt
index 0a4c0ba4f..53220f174 100644
--- a/cv-node/CMakeLists.txt
+++ b/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)
diff --git a/cv-node/src/algorithms/rtcensus.cu b/cv-node/src/algorithms/rtcensus.cu
index ff0e489a5..63f940018 100644
--- a/cv-node/src/algorithms/rtcensus.cu
+++ b/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;
//}
--
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