From 9c4a38aea00fea428320daec0a27f3781f44cd20 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 21 Mar 2019 15:16:07 +0200
Subject: [PATCH] Change filter window size to 11
---
cv-node/src/algorithms/rtcensus.cu | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/cv-node/src/algorithms/rtcensus.cu b/cv-node/src/algorithms/rtcensus.cu
index 52a5a50af..d008e06e6 100644
--- a/cv-node/src/algorithms/rtcensus.cu
+++ b/cv-node/src/algorithms/rtcensus.cu
@@ -282,7 +282,8 @@ __global__ void consistency_kernel(cudaTextureObject_t d_sub_l,
}
-#define FILTER_WINDOW_R 7
+#define FILTER_WINDOW 11
+#define FILTER_WINDOW_R 5
#define FILTER_SIM_THRESH 20
#define FILTER_DISP_THRESH 10.0f
@@ -339,7 +340,7 @@ __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));
+ int tm = (neigh_sq / (FILTER_WINDOW*FILTER_WINDOW)) - ((neigh_sum*neigh_sum) / (FILTER_WINDOW*FILTER_WINDOW));
if (tm >= -9000000) {
// ) {
if (!isnan(disp) && (abs(ppixel-pixel) > FILTER_SIM_THRESH || abs(pdisp - disp) <= FILTER_DISP_THRESH)) {
--
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