From dddda0e6749c352f04f11ef2874a709ee83bf0d1 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 12 Jul 2019 12:18:11 +0300
Subject: [PATCH] statistics: percent of samples with valid values
---
applications/gui/src/camera.cpp | 41 +++++++++++++++++++++++++++------
1 file changed, 34 insertions(+), 7 deletions(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 31620c395..2e50ce265 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -11,19 +11,37 @@ using ftl::gui::PoseWindow;
// TODO(Nick) MOVE
class StatisticsImage {
private:
- cv::Mat data_;
- cv::Size size_;
- float max_f_;
+ cv::Mat data_; // CV_32FC3, channels: m, s, f
+ cv::Size size_; // image size
+ float n_; // total number of samples
public:
StatisticsImage(cv::Size size);
StatisticsImage(cv::Size size, float max_f);
+ /* @brief reset all statistics to 0
+ */
void reset();
+
+ /* @brief update statistics with new values
+ */
void update(const cv::Mat &in);
+
+ /* @brief variance (depth)
+ */
void getVariance(cv::Mat &out);
+
+ /* @brief standard deviation (depth)
+ */
void getStdDev(cv::Mat &out);
+
+ /* @brief mean value (depth)
+ */
void getMean(cv::Mat &out);
+
+ /* @brief percent of samples having valid depth value
+ */
+ void getValidRatio(cv::Mat &out);
};
StatisticsImage::StatisticsImage(cv::Size size) :
@@ -31,24 +49,27 @@ StatisticsImage::StatisticsImage(cv::Size size) :
StatisticsImage::StatisticsImage(cv::Size size, float max_f) {
size_ = size;
- // channels: m, s, f
+ n_ = 0.0f;
data_ = cv::Mat(size, CV_32FC3, cv::Scalar(0.0, 0.0, 0.0));
- max_f_ = max_f;
+
// TODO
- if (!std::isinf(max_f_)) {
+ if (!std::isinf(max_f)) {
LOG(WARNING) << "TODO: max_f_ not used. Values calculated for all samples";
}
}
void StatisticsImage::reset() {
+ n_ = 0.0f;
data_ = cv::Scalar(0.0, 0.0, 0.0);
}
void StatisticsImage::update(const cv::Mat &in) {
DCHECK(in.type() == CV_32F);
DCHECK(in.size() == size_);
- // Welford's Method
+
+ n_ = n_ + 1.0f;
+ // Welford's Method
for (int row = 0; row < in.rows; row++) {
float* ptr_data = data_.ptr<float>(row);
const float* ptr_in = in.ptr<float>(row);
@@ -86,6 +107,12 @@ void StatisticsImage::getMean(cv::Mat &out) {
out = channels[0];
}
+void StatisticsImage::getValidRatio(cv::Mat &out) {
+ std::vector<cv::Mat> channels(3);
+ cv::split(data_, channels);
+ cv::divide(channels[2], n_, out);
+}
+
static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
Eigen::Affine3d rx =
Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
--
GitLab