How can we apply filtering after disparity is obtained?

[lingjiankong]

Hello! I am interested in obtain a smoother disparity map for point cloud generation. How can I apply a filtering / smoothing operation in libSGM (for example, similar to OpenCV's DisparityWLSFilter)? Which function / parameter should I call / tweak to obtain the smoother disparity?

Thanks!

[mohanen]

Last time I checked WLS Filter didn't work out the way I expected. #20

Check out Bilateral, it may work out for you.

Also look into SDR, it has lot of parameter to tweak and some what preserved edges in an expected way.

[sotsuka-fixstars]

We also found that SPS which has 11 parameters might work finer.

[lingjiankong]

Last time I checked WLS Filter didn't work out the way I expected. #20

Check out Bilateral, it may work out for you.

Also look into SDR, it has lot of parameter to tweak and some what preserved edges in an expected way.

Thanks. I posted how to get OpenCV's DisparityWLSFilter working in #20, for people who are confused about the data type and interface.

[lingjiankong]

@sotsuka-fixstars Are there any GPU-based filtering implementation that I can use? My goal is to free up as much CPU space as possible.

[sotsuka-fixstars]

@lingjiankong At the moment, we don't have it.
OpenCV has CUDA-implemented Bilateral filter in cudaimgproc module.
https://docs.opencv.org/4.1.1/d0/d05/group__cudaimgproc.html#ga6abeaecdd4e7edc0bd1393a04f4f20bd

[ynma-hanvo]

Last time I checked WLS Filter didn't work out the way I expected. #20

Check out Bilateral, it may work out for you.

Also look into SDR, it has lot of parameter to tweak and some what preserved edges in an expected way.

is SDR able to run realtime?