diff --git a/lib/libstereo/middlebury/main.cpp b/lib/libstereo/middlebury/main.cpp
index 1d03ebb146b7afcd4f6d68082b6b989425915db2..d1e0529ccbcaa1825b994a7ab06af99795a3278c 100644
--- a/lib/libstereo/middlebury/main.cpp
+++ b/lib/libstereo/middlebury/main.cpp
@@ -171,10 +171,30 @@ void show_result(std::string name, const MiddleburyData &data, const Result &res
cv::imshow(data.name + " (error) - " + name, err_color);
printf("\n%s: %s\n", name.c_str(), data.name.c_str());
- for (auto res : result.results) {
- printf("%9.2f %% correct (err < %.2f)\n", 100.0f * res.err_bad_nonoccl, res.threshold);
- printf("%9.2f px RMSE\n", res.rms_bad_nonoccl);
- }
+ int nt = result.results.size();
+
+ printf("%8s", "");
+ for (auto res : result.results) { printf("%10.2f ", res.threshold); }
+ printf("\n");
+
+ for (auto res : result.results) { printf("%13s", "-------------"); }
+ printf("\n");
+
+ printf("%-8s", "total");
+ for (auto res : result.results) { printf("%9.2f%% ", res.err_total*100.0f); }
+ printf("\n");
+
+ printf("%-8s", "bad");
+ for (auto res : result.results) { printf("%9.2f%% ", res.err_bad*100.0f); }
+ printf("\n");
+
+ printf("%-8s", "invalid");
+ for (auto res : result.results) { printf("%9.2f%% ", res.err_invalid*100.0f); }
+ printf("\n");
+
+ printf("%-8s", "RMSE");
+ for (auto res : result.results) { printf("%8.2fpx ", res.rms_good); }
+ printf("\n");
}
void show_results( const MiddleburyData &data, const std::map<std::string, Result> &results) {
diff --git a/lib/libstereo/middlebury/middlebury.cpp b/lib/libstereo/middlebury/middlebury.cpp
index e3136325f1275ba1c1de9983ebeb24b223f71ba8..e9c607c57030d76cea584c3954935ff2d8431d51 100644
--- a/lib/libstereo/middlebury/middlebury.cpp
+++ b/lib/libstereo/middlebury/middlebury.cpp
@@ -117,56 +117,71 @@ MiddEvalCalib read_calibration(const std::string &filename) {
return calib;
}
-MiddEvalResult evaluate(const cv::Mat &disp, const cv::Mat >, const cv::Mat &mask, float threshold) {
- MiddEvalResult result {0.0f, 0.0f, 0.0f};
- result.threshold = threshold;
-
- cv::Mat diff1(disp.size(), CV_32FC1);
- cv::Mat diff2;
-
- cv::absdiff(disp, gt, diff1);
- diff1.setTo(0.0f, gt != gt); // NaN
-
- // ...? where do inf values come from; issue in subpixel interpolation?
- // doesn't seem to happen when interpolation is enabled
- diff1.setTo(0.0f, gt == INFINITY);
-
- float n, n_gt, n_bad, err2, err2_bad;
-
- // errors incl. occluded areas
- n = countNonZero(disp);
- n_gt = countNonZero(gt);
- cv::pow(diff1, 2, diff2);
- err2 = cv::sum(diff2)[0];
+MiddEvalResult evaluate(const cv::Mat &disp, const cv::Mat >disp, const cv::Mat &mask, float threshold) {
+ MiddEvalResult result {0, 0, 0, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
+ if (gtdisp.type() != CV_32FC1) { throw std::exception(); }
+ if (disp.type() != CV_32FC1) { throw std::exception(); }
+ if (!mask.empty() && mask.type() != CV_8UC1) { throw std::exception(); }
- result.err_total = n/n_gt;
- result.rms_total = sqrt(err2/n);
+ using std::min;
+ using std::max;
- diff2.setTo(0.0f, diff1 > threshold);
- n_bad = countNonZero(diff1 <= threshold);
- err2_bad = cv::sum(diff2)[0];
- result.err_bad = n_bad/n_gt;
- result.rms_bad = sqrt(err2_bad/n);
+ bool usemask = !mask.empty();
- // errors ignoring occlusions (mask)
- diff1.setTo(0.0f, mask != 255);
- cv::pow(diff1, 2, diff2);
+ result.threshold = threshold;
+ int &n = result.n;
+ int &bad = result.bad;
+ int good = 0;
+ int &invalid = result.invalid;
+
+ float &rms_good = result.rms_good;
+ float &rms_bad = result.rms_bad;
+
+ float serr = 0;
+
+ // evaldisp.cpp from middlebury SDK
+
+ for (int y = 0; y < gtdisp.rows; y++) {
+ for (int x = 0; x < gtdisp.cols; x++) {
+ float gt = gtdisp.at<float>(y, x, 0);
+ if (gt == INFINITY) // unknown
+ continue;
+
+ float d = disp.at<float>(y, x, 0);
+ int valid = (d != INFINITY && d != 0.0f); // added 0.0f
+ /*if (valid) {
+ float maxd = maxdisp; // max disp range
+ d = max(0, min(maxd, d)); // clip disps to max disp range
+ }*/
+ /*if (valid && rounddisp) { d = round(d); }*/
+ float err = fabs(d - gt);
+
+ if (usemask && mask.at<uchar>(y, x, 0) != 255) {} // don't evaluate pixel
+ else {
+ n++;
+ if (valid) {
+ serr += err;
+ if (err > threshold) {
+ bad++;
+ rms_bad += err*err;
+ }
+ else {
+ rms_good += err*err;
+ good++;
+ }
+ } else {// invalid (i.e. hole in sparse disp map)
+ invalid++;
+ }
+ }
+ }
+ }
- cv::Mat tmp;
- disp.copyTo(tmp);
- tmp.setTo(0.0f, mask != 255);
- n = countNonZero(tmp);
- n_gt = countNonZero(mask == 255);
- err2 = cv::sum(diff2)[0];
-
- result.err_nonoccl = n/n_gt;
- result.rms_nonoccl = sqrt(err2/n);
-
- diff2.setTo(0.0f, diff1 > threshold);
- n_bad = countNonZero(diff1 <= threshold) - countNonZero(mask != 255);
- err2_bad = cv::sum(diff2)[0];
- result.err_bad_nonoccl = n_bad/n_gt;
- result.rms_bad_nonoccl = sqrt(err2_bad/n);
+ rms_bad = sqrtf(rms_bad/float(bad));
+ rms_good = sqrtf(rms_good/float(good));
+ result.err_bad = float(bad)/float(n);
+ result.err_invalid = float(invalid)/float(n);
+ result.err_total = float(bad+invalid)/float(n);
+ float avgErr = serr / float(n - invalid);
return result;
}
diff --git a/lib/libstereo/middlebury/middlebury.hpp b/lib/libstereo/middlebury/middlebury.hpp
index 87d9af5d307bb10782a8723cdb728841982c0ab7..3355860eec91bc4f6f25bf0ae9e6d46156a983da 100644
--- a/lib/libstereo/middlebury/middlebury.hpp
+++ b/lib/libstereo/middlebury/middlebury.hpp
@@ -3,14 +3,14 @@
#include <opencv2/core/mat.hpp>
struct MiddEvalResult {
- float err_total; // all pixels
- float rms_total; //
- float err_nonoccl; // non-masked pixels
- float rms_nonoccl; //
- float err_bad; // within threshold disparity from correct value
- float rms_bad; // RMS for pixels within threshold disparity from correct value
- float err_bad_nonoccl;
- float rms_bad_nonoccl;
+ int n;
+ int bad;
+ int invalid;
+ float err_bad;
+ float err_invalid;
+ float err_total;
+ float rms_bad;
+ float rms_good;
float threshold;
};