From 0c8b1423295b1601a227104596fe220aff163de0 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 19 Jun 2019 10:55:41 +0300
Subject: [PATCH] Correction to variance
---
applications/registration/src/correspondances.cpp | 8 +++++---
applications/registration/src/manual.cpp | 5 -----
2 files changed, 5 insertions(+), 8 deletions(-)
diff --git a/applications/registration/src/correspondances.cpp b/applications/registration/src/correspondances.cpp
index e5ca8a914..d3b52e856 100644
--- a/applications/registration/src/correspondances.cpp
+++ b/applications/registration/src/correspondances.cpp
@@ -61,13 +61,15 @@ static void averageDepth(vector<Mat> &in, Mat &out, float varThresh) {
for (int i_in = 0; i_in < in.size(); ++i_in) {
float d = in[i_in].at<float>(i);
if (d < 40.0f) {
- float delta = d - sum;
+ float delta = (d*1000.0f - sum*1000.0f);
var += delta*delta;
}
}
if (good_values > 1) var /= (good_values-1);
else var = 0.0f;
+ //LOG(INFO) << "VAR " << var;
+
if (var < varThresh) {
out.at<float>(i) = sum;
} else {
@@ -121,8 +123,8 @@ bool Correspondances::capture(cv::Mat &rgb1, cv::Mat &rgb2) {
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
- averageDepth(buffer[0], d1, 1.0f);
- averageDepth(buffer[1], d2, 1.0f);
+ averageDepth(buffer[0], d1, 0.00000005f);
+ averageDepth(buffer[1], d2, 0.00000005f);
Mat d1_v, d2_v;
d1.convertTo(d1_v, CV_8U, 255.0f / 10.0f);
d2.convertTo(d2_v, CV_8U, 255.0f / 10.0f);
diff --git a/applications/registration/src/manual.cpp b/applications/registration/src/manual.cpp
index 543cb8ef6..aa86e1f0e 100644
--- a/applications/registration/src/manual.cpp
+++ b/applications/registration/src/manual.cpp
@@ -184,10 +184,6 @@ void ftl::registration::manual(ftl::Configurable *root) {
bool insearch = false;
Correspondances *current = corrs[sources[curtarget]->getURI()];
-
- // Features for current frame...
- vector<tuple<int,int,int,int>> feat;
- vector<std::pair<pcl::PointXYZ, pcl::PointXYZ>> pclfeat;
while (ftl::running) {
if (!freeze) {
@@ -299,7 +295,6 @@ void ftl::registration::manual(ftl::Configurable *root) {
} else if (key == 'g') {
if (!insearch) {
insearch = true;
- LOG(INFO) << "Features matched = " << feat.size();
ftl::pool.push([&lastScore,&insearch,current](int id) {
LOG(INFO) << "START";
--
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