From c1cec0ffce82682c6584ccd42bf62d5a92758b11 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 17 Apr 2019 09:44:10 +0300
Subject: [PATCH] Norm middlebury better and show diff
---
vision/src/middlebury.cpp | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/vision/src/middlebury.cpp b/vision/src/middlebury.cpp
index bbd034a52..9ad1e849f 100644
--- a/vision/src/middlebury.cpp
+++ b/vision/src/middlebury.cpp
@@ -252,12 +252,13 @@ void ftl::middlebury::test(nlohmann::json &config) {
// Display results
evaldisp(disp, gt, Mat(), (float)config["middlebury"]["threshold"], (int)config["disparity"]["maximum"], 0);
- if (gt.cols > 1600) {
+ /*if (gt.cols > 1600) {
cv::resize(gt, gt, cv::Size(gt.cols * 0.25,gt.rows * 0.25), 0, 0, cv::INTER_LINEAR);
- }
+ }*/
if (disp.cols > 1600) {
cv::resize(disp, disp, cv::Size(disp.cols * 0.25,disp.rows * 0.25), 0, 0, cv::INTER_LINEAR);
}
+ cv::resize(gt, gt, cv::Size(disp.cols,disp.rows), 0, 0, cv::INTER_LINEAR);
double mindisp, mindisp_gt;
double maxdisp, maxdisp_gt;
@@ -269,13 +270,15 @@ void ftl::middlebury::test(nlohmann::json &config) {
//disp = (disp < 256.0f);
//disp = disp + (mindisp_gt - mindisp);
- disp.convertTo(disp, CV_8U, 255.0f / (maxdisp_gt));
+ disp.convertTo(disp, CV_8U, 255.0f / (maxdisp_gt*(float)config["middlebury"]["scale"]));
disp = disp & mask;
gt = gt / maxdisp_gt; // TODO Read from calib.txt
+ gt.convertTo(gt, CV_8U, 255.0f);
//disp = disp / maxdisp;
imshow("Ground Truth", gt);
imshow("Disparity", disp);
+ imshow("Diff", gt - disp);
while (cv::waitKey(10) != 27);
--
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