Enable subpixel accuracy

components/rgbd-sources/src/algorithms/fixstars_sgm.cpp

@@ -26,9 +26,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 	if (!ssgm_) {
 		ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16,
 			sgm::EXECUTE_INOUT_HOST2HOST,
-			// if disparitybilateralfilter used, sub pixel accuracy will be
-			// truncated in filtering
-			sgm::StereoSGM::Parameters(10,120,0.95f,!use_filter_));
+			sgm::StereoSGM::Parameters(10,120,0.95f,true));
 	}
 
 	disp = Mat(cv::Size(l.cols, l.rows), CV_16UC1);
@@ -41,14 +39,10 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 	
 	// todo: fix libSGM (return float data or provide mask separately)
 	// disparity values set to (256 << 5) in libSGM consistency check 
-	// (or 256 << 1 without sub-pixel accuracy)
-	Mat bad_pixels = (disp == (use_filter_ ? (256 << 1) : (256 << 5))); 
+	Mat bad_pixels = (disp == (256 << 5)); 
 	disp.setTo(0, bad_pixels);
 	
 	if (use_filter_) {
-		// disp /= 16; // sub-pixel accuracy is lost (!!!)
-		disp.convertTo(disp, CV_8UC1);
-
 		cv::cuda::GpuMat l_gpu, disp_gpu, disp_gpu_out;
 		// parameters need benchmarking, impact of image
 		// quick tests show with parameters (max_disp_, 25, 3)
@@ -57,10 +51,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
 		l_gpu.upload(l);
 		filter_->apply(disp_gpu, l_gpu, disp_gpu_out);
 		disp_gpu_out.download(disp);
-		
-		disp.convertTo(disp, CV_32F);
 	}
-	else {
+	
 	disp.convertTo(disp, CV_32F, 1.0f/16.0f);
 }
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-}
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