From 91270c596580bc4025fbd4d847c8018370202437 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 24 May 2020 14:05:06 +0300
Subject: [PATCH] Visualise focal point disparity
---
lib/libstereo/src/algorithms/clustersf.cu | 27 ++++++++++++++++++++++-
1 file changed, 26 insertions(+), 1 deletion(-)
diff --git a/lib/libstereo/src/algorithms/clustersf.cu b/lib/libstereo/src/algorithms/clustersf.cu
index a00a1d6da..d069cd28a 100644
--- a/lib/libstereo/src/algorithms/clustersf.cu
+++ b/lib/libstereo/src/algorithms/clustersf.cu
@@ -43,16 +43,41 @@ void StereoCSF::compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disp
SalientGradientGrouped sgr = {impl_->r.data(), impl_->gr.data(), impl_->temp.data(), impl_->buckets_r.data(), impl_->r.width, impl_->r.height};
parallel1DWarpSM(sgr, r.rows(), r.cols());
- FocalCluster fc = {make_short2(300, 300), impl_->buckets_l.data(), impl_->buckets_r.data(), impl_->focal.data(), 1024};
+ impl_->focal.toGpuMat().setTo(cv::Scalar(0));
+
+ FocalCluster fc = {make_short2(1000, 800), impl_->buckets_l.data(), impl_->buckets_r.data(), impl_->focal.data(), 1024};
parallel1DWarp(fc, l.rows(), 1);
cv::Mat tmp;
impl_->focal.toGpuMat().download(tmp);
+
+ double minval;
+ double maxval;
+ int minloc[2];
+ int maxloc[2];
+ cv::minMaxIdx(tmp, &minval, &maxval, minloc, maxloc);
+
+ std::cout << "Focal Disparity = " << maxloc[1] << std::endl;
+
tmp.convertTo(tmp, CV_8UC1, 0.1);
cv::resize(tmp,tmp, cv::Size(tmp.cols, 100));
cv::applyColorMap(tmp, tmp, cv::COLORMAP_TURBO);
cv::imshow("Gradients Right", tmp);
+ cv::Mat imgleft, imgright;
+ impl_->l.toGpuMat().download(imgleft);
+ impl_->r.toGpuMat().download(imgright);
+
+ cv::cvtColor(imgleft,imgleft, cv::COLOR_GRAY2BGR);
+ cv::cvtColor(imgright,imgright, cv::COLOR_GRAY2BGR);
+ cv::drawMarker(imgleft, cv::Point(1000,800), cv::Scalar(0,0,255));
+ cv::drawMarker(imgright, cv::Point(1000-maxloc[1],800), cv::Scalar(0,0,255));
+
+ cv::resize(imgleft,imgleft, cv::Size(imgleft.cols/2, imgleft.rows/2));
+ cv::resize(imgright,imgright, cv::Size(imgright.cols/2, imgright.rows/2));
+ cv::imshow("Left Focal", imgleft);
+ cv::imshow("Right Focal", imgright);
+
//impl_->gr.toGpuMat().download(tmp);
//cv::resize(tmp,tmp, cv::Size(tmp.cols/2, tmp.rows/2));
//cv::imshow("Gradients Right", tmp);
--
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