From ee5b86d3b429afe3193310ff06e55c57c0cca73c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 25 May 2020 11:29:26 +0300
Subject: [PATCH] Visualise confidence
---
lib/libstereo/src/algorithms/clustersf.cu | 7 +++++--
lib/libstereo/src/filters/focal_cluster.hpp | 3 ++-
2 files changed, 7 insertions(+), 3 deletions(-)
diff --git a/lib/libstereo/src/algorithms/clustersf.cu b/lib/libstereo/src/algorithms/clustersf.cu
index 5db9db3d6..332a8e27b 100644
--- a/lib/libstereo/src/algorithms/clustersf.cu
+++ b/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);
diff --git a/lib/libstereo/src/filters/focal_cluster.hpp b/lib/libstereo/src/filters/focal_cluster.hpp
index bc1126b9a..32cd5be1a 100644
--- a/lib/libstereo/src/filters/focal_cluster.hpp
+++ b/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;
--
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