Visualise confidence

lib/libstereo/src/algorithms/clustersf.cu

@@ -84,8 +84,11 @@ void StereoCSF::compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disp
 	disp_array.toGpuMat().download(disparity);
 
 	cv::Mat gradtmp;
-	impl_->gl.toGpuMat().download(gradtmp);
-	cv::imshow("Gradient Left", gradtmp);
+	conf_array.toGpuMat().download(gradtmp);
+	gradtmp.convertTo(gradtmp, CV_8UC1, 255.0);
+	cv::applyColorMap(gradtmp, gradtmp, cv::COLORMAP_INFERNO);
+	cv::resize(gradtmp,gradtmp, cv::Size(gradtmp.cols/2, gradtmp.rows/2));
+	cv::imshow("Confidence", gradtmp);
 
 	cv::Mat tmp;
 	impl_->focal.toGpuMat().download(tmp);

lib/libstereo/src/filters/focal_cluster.hpp

@@ -75,7 +75,8 @@ struct FocalSelector {
 				}
 
 				if (max_v > 0) {
-					float conf = 1.0f - (float(abs(best_disp-focal_disp)) / float(max_disparity));
+					//float conf = 1.0f - min(1.0f, float(abs(best_disp-focal_disp)) / 10.0f);
+					float conf = 1.0f - min(1.0f, float(abs(distx)) / 500.0f);
 					if (conf > confidence(y,feature.x)) {
 						disparity(y,feature.x) = float(best_disp);
 						confidence(y,feature.x) = conf;