From d58b0327061d9b5ae0bd2ab769a9af840750c192 Mon Sep 17 00:00:00 2001 From: Nicolas Pope <nwpope@utu.fi> Date: Tue, 10 Dec 2019 12:21:16 +0200 Subject: [PATCH] Fix confidence display --- components/operators/src/correspondence.cu | 2 ++ components/operators/src/mvmls.cpp | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/components/operators/src/correspondence.cu b/components/operators/src/correspondence.cu index f6015c5ea..1611a8483 100644 --- a/components/operators/src/correspondence.cu +++ b/components/operators/src/correspondence.cu @@ -153,6 +153,8 @@ __global__ void corresponding_point_kernel( // Generate a colour correspondence value const auto colour2 = c2.tex2D(linePos.x, linePos.y); + + // TODO: Check if other colour dissimilarities are better... const float cweight = ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth); // Generate a depth correspondence value diff --git a/components/operators/src/mvmls.cpp b/components/operators/src/mvmls.cpp index 822b6e09b..4a61e6322 100644 --- a/components/operators/src/mvmls.cpp +++ b/components/operators/src/mvmls.cpp @@ -249,7 +249,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda for (size_t i=0; i<in.frames.size(); ++i) { auto &f1 = in.frames[i]; //f1.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0.0f), cvstream); - f1.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream); + //f1.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream); Eigen::Vector4d d1(0.0, 0.0, 1.0, 0.0); d1 = in.sources[i]->getPose() * d1; -- GitLab