Program Listing for File DepthMapPixelHypothesis.cpp

↰ Return to documentation for file (lib/DepthEstimation/DepthMapPixelHypothesis.cpp)

#include "DepthEstimation/DepthMapPixelHypothesis.h"
#include "GlobalMapping/KeyFrameGraph.h"
#include "DataStructures/Frame.h"

namespace lsd_slam
{


cv::Vec3b DepthMapPixelHypothesis::getVisualizationColor(int lastFrameID) const
{
    if(debugDisplay == 0 || debugDisplay == 1)
    {
        float id;
        if(debugDisplay == 0)
            id= idepth_smoothed;
        else // if(debugDisplay == 1)
            id= idepth;

        if(id < 0)
            return cv::Vec3b(255,255,255);

        // rainbow between 0 and 4
        float r = (0-id) * 255 / 1.0; if(r < 0) r = -r;
        float g = (1-id) * 255 / 1.0; if(g < 0) g = -g;
        float b = (2-id) * 255 / 1.0; if(b < 0) b = -b;

        uchar rc = r < 0 ? 0 : (r > 255 ? 255 : r);
        uchar gc = g < 0 ? 0 : (g > 255 ? 255 : g);
        uchar bc = b < 0 ? 0 : (b > 255 ? 255 : b);

        return cv::Vec3b(255-rc,255-gc,255-bc);
    }

    // plot validity counter
    if(debugDisplay == 2)
    {
        float f = validity_counter * (255.0 / (VALIDITY_COUNTER_MAX_VARIABLE+VALIDITY_COUNTER_MAX));
        uchar v = f < 0 ? 0 : (f > 255 ? 255 : f);
        return cv::Vec3b(0,v,v);
    }

    // plot var
    if(debugDisplay == 3 || debugDisplay == 4)
    {
        float idv;
        if(debugDisplay == 3)
            idv= idepth_var_smoothed;
        else
            idv= idepth_var;

        float var = - 0.5 * log10(idv);

        var = var*255*0.333;
        if(var > 255) var = 255;
        if(var < 0)
            return cv::Vec3b(0,0, 255);

        return cv::Vec3b(255-var,var, 0);// bw
    }

    // plot skip
    if(debugDisplay == 5)
    {
        float f = (nextStereoFrameMinID - lastFrameID) * (255.0 / 100);
        uchar v = f < 0 ? 0 : (f > 255 ? 255 : f);
        return cv::Vec3b(v,0,v);
    }

    return cv::Vec3b(255,255,255);
}

}