From dc93a1a7be3479564f9f5f56e0c55744edd67603 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 21 Mar 2019 14:35:21 +0200
Subject: [PATCH] Another improvement to filter maybe, using past value
---
cv-node/src/algorithms/rtcensus.cu | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/cv-node/src/algorithms/rtcensus.cu b/cv-node/src/algorithms/rtcensus.cu
index a041e7b29..52a5a50af 100644
--- a/cv-node/src/algorithms/rtcensus.cu
+++ b/cv-node/src/algorithms/rtcensus.cu
@@ -141,7 +141,7 @@ __global__ void disp_kernel(float *disp_l, float *disp_r,
size_t ds) {
//extern __shared__ uint64_t cache[];
- const int gamma = 50;
+ const int gamma = 100;
int u = (blockIdx.x * BLOCK_W) + threadIdx.x + RADIUS2;
int v_start = (blockIdx.y * ROWSperTHREAD) + RADIUS2;
@@ -309,7 +309,7 @@ __global__ void filter_kernel(cudaTextureObject_t t, cudaTextureObject_t d,
float pdisp = tex2D<float>(nDisp,u,v);
if (isnan(pdisp)) pdisp = disp;
- if (isnan(disp)) disp = pdisp;
+ //if (isnan(disp)) disp = pdisp;
int pixel = tex2D<unsigned char>(t, u, v);
int ppixel = tex2D<unsigned char>(nTex, u, v);
float est = 0.0f; //(isnan(disp)) ? tex2D<float>(prev, u, v) : disp;
@@ -340,8 +340,11 @@ __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) ) {
- if (nn > 2) f(v,u) = (nn==0) ? NAN : (est+disp) / (nn+1);
+ if (tm >= -9000000) {
+ // ) {
+ if (!isnan(disp) && (abs(ppixel-pixel) > FILTER_SIM_THRESH || abs(pdisp - disp) <= FILTER_DISP_THRESH)) {
+ f(v,u) = disp;
+ } else if (nn > 2) f(v,u) = (nn==0) ? NAN : est / nn;
else f(v,u) = NAN;
} else {
f(v,u) = NAN;
--
GitLab