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RobertLeahy / KinFu

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What're good values for sigma S and sigma R? #63

Closed RobertLeahy closed 8 years ago

RobertLeahy commented 8 years ago

These values are used by dynfu::kinect_fusion_opencl_measurement_pipeline_block.

RobertLeahy commented 8 years ago

@ataiya, these are parameters to the bilateral filter used by the measurement block.

@jordan-heemskerk thought you'd have an idea of values to use for these as a baseline/default.

jordan-heemskerk commented 8 years ago

In computer vision we used the one ring neighborhood of pixels, also called the 8-neighblourhood when we don't need too much accuracy, that might be good enough for our application.

EDIT: This was the wrong issue

taiya commented 8 years ago

I don't see a question? [edit] Right, but I don't know what those symbols exactly refer to (note you can upload screenshots to github issues)

RobertLeahy commented 8 years ago

The question is in the title of the issue: What are good starting values for these?

RobertLeahy commented 8 years ago

As per @jordan-heemskerk and #64 once we figure this out we should use those values to calculate the size of the bilateral filter's window.

RobertLeahy commented 8 years ago

Talked to Andrea: Arbitrary, tweak until happy. Check KinFu/PCL.

jordan-heemskerk commented 8 years ago

@4444jw4444 can you look in the PCL implementation and find what their default values for sigma s and sigma r are and comment them here?

jordan-heemskerk commented 8 years ago

Transferring to @helenroy.

Sigma_s and Sigma_r are in Eqn 2

jordan-heemskerk commented 8 years ago

const float sigma_color = 30; //in mm const float sigma_space = 4.5; // in pixels