What can I change if I want to make progress about the "ADCensusBM"prgram?

[ycj1124]

hello sir.I am doing some research and I am interested in your ADCensusBM program.now I have made the disp image by your program like this:

what I want to ask is that if I want to make a better result on the bottom of the program ,which part of the code should I try to change?
should I change the matrix here:

or here:

or the input in main.cpp:

or neither of the above.should I make some change in the algorithm in any of the .cpp? thank you very much.