Give guidance for parameter selection

Question

Give guidance for parameter selection

mpatalberta opened this issue 8 years ago · 5 comments

Can some one supply some guidance on parameter selection.

Answer 1 · 2017-02-09T18:44:41.000Z

Please clarify which parameters?

Answer 2 · 2017-02-09T19:28:27.000Z

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.

Answer 3 · 2017-02-11T00:24:46.000Z

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.

Answer 4 · 2017-02-11T01:26:52.000Z

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

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-------- 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. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub<#3 (comment)>, or mute the thread<https://github.com/notifications/unsubscribe-auth/AF-hoUMeqSm3D2HY44lW87SbT4I9Zbymks5rbP_OgaJpZM4L8Mo1>.

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Answer 5 · 2017-02-13T18:29:03.000Z

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.