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jstraub / cudaPcl

depth image processing using CUDA
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Give guidance for parameter selection #3

Open mpatalberta opened 7 years ago

mpatalberta commented 7 years ago

Can some one supply some guidance on parameter selection.

jstraub commented 7 years ago

Please clarify which parameters?

mpatalberta commented 7 years ago

openniSmoothDepth: grab RGB-D frames from an openni device, smooth the depth image using a fast GPU enhanced guided filter and display it. Allowed options: -h [ --help ] produce help message -e [ --eps ] arg sqrt of the epsilon parameter of the guided filter -b [ --B ] arg guided filter windows size (size will be (2B+1)x(2B+1))

We have a 640x480 XYZ with Intensity and confidence value How do you decide how to set the two sets of parameter.

jstraub commented 7 years ago

Well the code is meant to filter a single channel (namely the depth) of an RGB-D camera. Most of the parameter setting will depend on the kind of noise your sensor has. I think I used eps=0.04 and B=10 for an Xtion PRO sensor.

mpatalberta commented 7 years ago

Julian, I appreciate the quick response here.

I am using a set of 4 kinectv2 what settings would suggest. Thanks Mobile Patrick Brown 631 880 1188 1 Locust AVE North Medford NY 11763 USA

-------- Original message -------- From: Julian Straub notifications@github.com Date: 2/10/17 7:24 PM (GMT-05:00) To: jstraub/cudaPcl cudaPcl@noreply.github.com Cc: "Brown, Patrick" Patrick.Brown@zebra.com, Author author@noreply.github.com Subject: Re: [jstraub/cudaPcl] Give guidance for parameter selection (#3)

Well the code is meant to filter a single channel (namely the depth) of an RGB-D camera. Most of the parameter setting will depend on the kind of noise your sensor has. I think I used eps=0.04 and B=10 for an Xtion PRO sensor.

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jstraub commented 7 years ago

I have not used Kinect V2. But I hear that it has lower noise so you should be able to use the same settings or even smaller eps. Just try it and look at the surface normal image; tweak the parameters till it looks smooth on planar regions and hopefully not too smooth across depth discontinuities.