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Commit b8b97626 authored by Sebastian Hahta's avatar Sebastian Hahta
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bilateral filter: ndisp

parent 44c55a8a
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Pipeline #16271 passed
...@@ -53,7 +53,7 @@ class DisparityBilateralFilter : public::ftl::operators::Operator { ...@@ -53,7 +53,7 @@ class DisparityBilateralFilter : public::ftl::operators::Operator {
double scale_; double scale_;
int radius_; int radius_;
int iter_; int iter_;
int max_disp_; int n_disp_;
}; };
/* /*
......
...@@ -12,9 +12,10 @@ DisparityBilateralFilter::DisparityBilateralFilter(ftl::Configurable* cfg) : ...@@ -12,9 +12,10 @@ DisparityBilateralFilter::DisparityBilateralFilter(ftl::Configurable* cfg) :
ftl::operators::Operator(cfg) { ftl::operators::Operator(cfg) {
scale_ = 16.0; scale_ = 16.0;
n_disp_ = cfg->value("n_disp", 256);
radius_ = cfg->value("radius", 7); radius_ = cfg->value("radius", 7);
iter_ = cfg->value("iter", 13); iter_ = cfg->value("iter", 13);
filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, radius_, iter_); filter_ = cv::cuda::createDisparityBilateralFilter(n_disp_ * scale_, radius_, iter_);
} }
bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
......
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