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[Bugfix] Ensure radius defaults are applied when BilateralFilter diameter is <= 0 #144

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[Bugfix] Ensure radius defaults are applied when BilateralFilter diameter is <= 0 #144

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7a41270
Fix default radius calculation when diameter is <= 0
zacharyvincze Apr 7, 2026
d1fc1f8
Add tests for diameter <= 0
zacharyvincze Apr 7, 2026
7e9ace6
Merge branch 'develop' into zv/feature/bilaterial-filter-default-value
zacharyvincze Apr 7, 2026
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6 changes: 5 additions & 1 deletion include/op_bilateral_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,11 @@ class BilateralFilter final : public IOperator {
* @param[in] stream The HIP stream to run this operation on.
* @param[in] input Input tensor with image batch data
* @param[out] output Output tensor for storing modified image batch data
* @param[in] diameter bilateral filter diameter.
* @param[in] diameter Bilateral filter neighborhood diameter. If @p diameter is
* greater than zero, the spatial radius is `diameter >> 1`. If @p diameter is
* less than or equal to zero, the radius is
* `static_cast<int>(std::roundf(sigmaSpace * 1.5f))` after clamping non-positive
* @p sigmaSpace to 1.0.
* @param[in] sigmaColor Gaussian exponent for color difference, expected
* to be positive, if it isn't, will be set to 1.0
* @param[in] sigmaSpace Gaussian exponent for position difference expected
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8 changes: 3 additions & 5 deletions src/op_bilateral_filter.cpp
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Expand Up @@ -23,6 +23,7 @@ THE SOFTWARE.

#include <hip/hip_runtime.h>

#include <cmath>
#include <functional>
#include <numeric>
#include <unordered_map>
Expand All @@ -45,8 +46,6 @@ void dispatch_bilateral_filter_border_mode(hipStream_t stream, const Tensor &inp
BorderWrapper<T, B> inputWrapper(input, borderValue);
ImageWrapper<T> outputWrapper(output);

int radius = diameter >> 1;

if (outputWrapper.channels() > 4 || outputWrapper.channels() < 1) {
throw Exception("Invalid channel size: cannot be greater than 4 or less than 1.", eStatusType::OUT_OF_BOUNDS);
}
Expand All @@ -62,9 +61,8 @@ void dispatch_bilateral_filter_border_mode(hipStream_t stream, const Tensor &inp
sigmaSpace = 1.0f;
}

if (radius <= 0) {
radius = std::round(sigmaSpace * 1.5f);
}
const int radius =
(diameter <= 0) ? static_cast<int>(std::roundf(sigmaSpace * 1.5f)) : (diameter >> 1);

float spaceCoeff = -1 / (2 * sigmaSpace * sigmaSpace);
float colorCoeff = -1 / (2 * sigmaColor * sigmaColor);
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16 changes: 16 additions & 0 deletions tests/roccv/cpp/src/tests/operators/test_op_bilateral_filter.cpp
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Expand Up @@ -175,6 +175,14 @@ int main(int argc, char** argv) {
TEST_CASE((TestCorrectness<uchar, BORDER_TYPE_REPLICATE>(4, 20, 20, FMT_U8, 4, 50.0f, 3.0f, {0.0, 0.0, 0.0, 0.0},
eDeviceType::GPU)));

// diameter <= 0: radius = roundf(sigmaSpace * 1.5f); sigmaSpace 1.2 -> radius 2
TEST_CASE((TestCorrectness<uchar, BORDER_TYPE_CONSTANT>(1, 20, 20, FMT_U8, 0, 50.0f, 1.2f, {0.0, 0.0, 0.0, 0.0},
eDeviceType::GPU)));
TEST_CASE((TestCorrectness<uchar3, BORDER_TYPE_REPLICATE>(2, 20, 20, FMT_RGB8, -1, 50.0f, 1.2f,
{0.0, 0.0, 0.0, 0.0}, eDeviceType::GPU)));
TEST_CASE((TestCorrectness<float1, BORDER_TYPE_WRAP>(1, 24, 24, FMT_F32, 0, 500.0f, 1.2f,
{500.0, 500.0, 0.0, 0.0}, eDeviceType::GPU)));

TEST_CASE((TestCorrectness<uchar3, BORDER_TYPE_CONSTANT>(1, 20, 20, FMT_RGB8, 4, 50.0f, 3.0f, {0.0, 0.0, 0.0, 0.0},
eDeviceType::GPU)));
TEST_CASE((TestCorrectness<uchar3, BORDER_TYPE_REFLECT>(2, 20, 20, FMT_RGB8, 4, 50.0f, 5.0f,
Expand Down Expand Up @@ -276,6 +284,14 @@ int main(int argc, char** argv) {
TEST_CASE((TestCorrectness<uchar, BORDER_TYPE_REPLICATE>(4, 20, 20, FMT_U8, 4, 50.0f, 3.0f, {0.0, 0.0, 0.0, 0.0},
eDeviceType::CPU)));

// diameter <= 0: radius = roundf(sigmaSpace * 1.5f); sigmaSpace 1.2 -> radius 2
TEST_CASE((TestCorrectness<uchar, BORDER_TYPE_CONSTANT>(1, 20, 20, FMT_U8, 0, 50.0f, 1.2f, {0.0, 0.0, 0.0, 0.0},
eDeviceType::CPU)));
TEST_CASE((TestCorrectness<uchar3, BORDER_TYPE_REPLICATE>(2, 20, 20, FMT_RGB8, -1, 50.0f, 1.2f,
{0.0, 0.0, 0.0, 0.0}, eDeviceType::CPU)));
TEST_CASE((TestCorrectness<float1, BORDER_TYPE_WRAP>(1, 24, 24, FMT_F32, 0, 500.0f, 1.2f,
{500.0, 500.0, 0.0, 0.0}, eDeviceType::CPU)));

TEST_CASE((TestCorrectness<uchar3, BORDER_TYPE_CONSTANT>(1, 20, 20, FMT_RGB8, 4, 50.0f, 3.0f, {0.0, 0.0, 0.0, 0.0},
eDeviceType::CPU)));
TEST_CASE((TestCorrectness<uchar3, BORDER_TYPE_REFLECT>(2, 20, 20, FMT_RGB8, 4, 50.0f, 5.0f,
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4 changes: 3 additions & 1 deletion tests/roccv/python/test_op_bilateral_filter.py
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Expand Up @@ -32,7 +32,9 @@
@pytest.mark.parametrize("border_mode", [rocpycv.eBorderType.CONSTANT])
@pytest.mark.parametrize("border_val", [[0, 0, 0, 1]])
@pytest.mark.parametrize("diameter,sigma_color,sigma_space", [
(3, 1.0, 1.0)
(3, 1.0, 1.0),
(0, 50.0, 1.2),
(-1, 50.0, 1.2),
])
@pytest.mark.parametrize("channels", [1, 3, 4])
@pytest.mark.parametrize("samples,height,width", [
Expand Down