From 90ae6e0b723e1573f75522b966437beb48b08dd0 Mon Sep 17 00:00:00 2001
From: Bernhard Tittelbach <bernhard@tittelbach.org>
Date: Tue, 26 Mar 2019 03:28:45 +0100
Subject: [PATCH] show image with confidence instead of grayscale

---
 cpp/sampleOpenCV/sampleOpenCV.cpp |   14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
index ca4c208..93384ea 100644
--- a/cpp/sampleOpenCV/sampleOpenCV.cpp
+++ b/cpp/sampleOpenCV/sampleOpenCV.cpp
@@ -70,6 +70,7 @@ public :
         // each image containing one 32Bit channel
         zImage.create (Size (data->width, data->height), CV_32FC1);
         grayImage.create (Size (data->width, data->height), CV_32FC1);
+        confidenceImage.create (Size (data->width, data->height), CV_8UC1);
 
         // set the image to zero
         zImage = Scalar::all (0);
@@ -80,9 +81,11 @@ public :
         {
             float *zRowPtr = zImage.ptr<float> (y);
             float *grayRowPtr = grayImage.ptr<float> (y);
+            uint8_t *confRowPtr = confidenceImage.ptr<uint8_t> (y);
             for (int x = 0; x < zImage.cols; x++, k++)
             {
                 auto curPoint = data->points.at (k);
+                confRowPtr[x] = curPoint.depthConfidence;
                 if (curPoint.depthConfidence > confidence_threshold_)
                 {
                     // if the point is valid, map the pixel from 3D world
@@ -157,10 +160,11 @@ public :
         }
 
         // scale and display the gray image
-        scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
-        resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
+        // scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
+        // resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
+        // imshow ("Gray", scaledGrayImage);
 
-        imshow ("Gray", scaledGrayImage);
+        imshow ("Confidence", confidenceImage);
     }
 
     void setLensParameters (const LensParameters &lensParameters)
@@ -218,6 +222,7 @@ private:
     // and for their 8Bit and scaled versions
     Mat zImage, zImage8, scaledZImage;
     Mat grayImage, grayImage8, scaledGrayImage;
+    Mat confidenceImage;
 
     // lens matrices used for the undistortion of
     // the image
@@ -319,7 +324,8 @@ int main (int argc, char *argv[])
 
     // create two windows
     namedWindow ("Depth", WINDOW_AUTOSIZE);
-    namedWindow ("Gray", WINDOW_AUTOSIZE);
+    // namedWindow ("Gray", WINDOW_AUTOSIZE);
+    namedWindow ("Confidence", WINDOW_AUTOSIZE);
     // namedWindow ("column", WINDOW_AUTOSIZE);
 
     // start capture mode
-- 
1.7.10.4