diff --git a/README.md b/README.md
index 41fdd709827..293bcd768e9 100644
--- a/README.md
+++ b/README.md
@@ -2130,6 +2130,32 @@ This demo tries to use a data-driven anisotropic diffusion to propagate these va
 <div style="width:290px">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</div> 
 </td>
 </tr> 
+<tr> 
+<td>
+<div style="width:290px">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</div> 
+<img src="toolbars/09_lightfields_depth/71_superpixels_depth.png" style="width:70px;">
+<div style="width:290px">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</div> 
+</td>
+<td> 
+
+#### Depth based on SLIC Superpixels averaging
+
+Superpixel algorithms derive meaningful atomic primitives from dense grid images, which can them be used in a variety of computer vision algorithms.
+
+By averaging the depth values derived from the correspondence metric for each superpixel, we can create a piecewise-constant set of depth values that respect the continuous regions in the colours of the lightfield image.
+
+<sub>Achanta, Radhakrishna, et al. ["SLIC superpixels compared to state-of-the-art superpixel methods."](https://infoscience.epfl.ch/record/149300/files/SLIC_Superpixels_TR_2.pdf) IEEE transactions on pattern analysis and machine intelligence 34.11 (2012): 2274-2282.</sub>
+
+<sub>Tao, Michael W., et al. ["Depth from combining defocus and correspondence using light-field cameras."](https://www.cv-foundation.org/openaccess/content_iccv_2013/papers/Tao_Depth_from_Combining_2013_ICCV_paper.pdf) Proceedings of the IEEE International Conference on Computer Vision. 2013.</sub>
+
+<sub>Chuchvara, Aleksandra, Attila Barsi, and Atanas Gotchev. ["Fast and Accurate Depth Estimation from Sparse Light Fields."](https://arxiv.org/pdf/1812.06856.pdf) IEEE Transactions on Image Processing (2019).</sub>
+</td> 
+<td>
+<div style="width:290px">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</div> 
+<img src="toolbars/09_lightfields_depth/71_superpixels_depth_screenshot.png" style="width:70px;">
+<div style="width:290px">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</div> 
+</td>
+</tr> 
 </table> 
 
 ## Tutorials
@@ -2335,3 +2361,4 @@ The code is released under the [MIT license](https://en.wikipedia.org/wiki/MIT_L
 
 
 
+
diff --git a/toolbars/09_lightfields_depth/71_superpixels_depth.png b/toolbars/09_lightfields_depth/71_superpixels_depth.png
new file mode 100644
index 00000000000..9f3bc8d591c
Binary files /dev/null and b/toolbars/09_lightfields_depth/71_superpixels_depth.png differ
diff --git a/toolbars/09_lightfields_depth/71_superpixels_depth.psw b/toolbars/09_lightfields_depth/71_superpixels_depth.psw
index 1ff2a13e044..0d92d6ee324 100644
--- a/toolbars/09_lightfields_depth/71_superpixels_depth.psw
+++ b/toolbars/09_lightfields_depth/71_superpixels_depth.psw
@@ -6,6 +6,12 @@
             "out_node": "color_0",
             "out_port": "out_frame"
         },
+        {
+            "in_node": "multiply_0",
+            "in_port": "in_frame_2",
+            "out_node": "color_1",
+            "out_port": "out_frame"
+        },
         {
             "in_node": "concat_1",
             "in_port": "in_frame_2",
@@ -24,6 +30,12 @@
             "out_node": "colormap_1",
             "out_port": "out_frame"
         },
+        {
+            "in_node": "concat_2",
+            "in_port": "in_frame_2",
+            "out_node": "colormap_2",
+            "out_port": "out_frame"
+        },
         {
             "in_node": "concat_3_0",
             "in_port": "in_frame_1",
@@ -36,6 +48,48 @@
             "out_node": "concat_1",
             "out_port": "out_frame"
         },
+        {
+            "in_node": "concat_3_0",
+            "in_port": "in_frame_3",
+            "out_node": "concat_2",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "network_1",
+            "in_port": "input",
+            "out_node": "concat_3_0",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "color_1",
+            "in_port": "in_frame",
+            "out_node": "convert_0",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "weighted_mean_0",
+            "in_port": "weights",
+            "out_node": "convert_0",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "multiply_0",
+            "in_port": "in_frame_1",
+            "out_node": "convert_1",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "colormap_2",
+            "in_port": "in_frame",
+            "out_node": "convert_2",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "concat_2",
+            "in_port": "in_frame_1",
+            "out_node": "convert_3",
+            "out_port": "out_frame"
+        },
         {
             "in_node": "mean_0",
             "in_port": "in",
@@ -72,6 +126,12 @@
             "out_node": "image_1",
             "out_port": "frame"
         },
+        {
+            "in_node": "convert_0",
+            "in_port": "in_frame",
+            "out_node": "image_2",
+            "out_port": "frame"
+        },
         {
             "in_node": "concat_0",
             "in_port": "in_frame_2",
@@ -84,6 +144,18 @@
             "out_node": "mean_1",
             "out_port": "out"
         },
+        {
+            "in_node": "convert_3",
+            "in_port": "in_frame",
+            "out_node": "multiply_0",
+            "out_port": "out_frame"
+        },
+        {
+            "in_node": "network_0",
+            "in_port": "frame",
+            "out_node": "network_1",
+            "out_port": "output"
+        },
         {
             "in_node": "colormap_0",
             "in_port": "in_frame",
@@ -96,6 +168,12 @@
             "out_node": "normalize_1",
             "out_port": "out_frame"
         },
+        {
+            "in_node": "convert_2",
+            "in_port": "in_frame",
+            "out_node": "normalize_2",
+            "out_port": "out_frame"
+        },
         {
             "in_node": "mean_0",
             "in_port": "superpixels",
@@ -114,99 +192,21 @@
             "out_node": "slic_0",
             "out_port": "superpixels"
         },
-        {
-            "in_node": "convert_0",
-            "in_port": "in_frame",
-            "out_node": "image_2",
-            "out_port": "frame"
-        },
         {
             "in_node": "normalize_2",
             "in_port": "in_frame",
             "out_node": "weighted_mean_0",
             "out_port": "out"
-        },
-        {
-            "in_node": "color_1",
-            "in_port": "in_frame",
-            "out_node": "convert_0",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "weighted_mean_0",
-            "in_port": "weights",
-            "out_node": "convert_0",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "convert_3",
-            "in_port": "in_frame",
-            "out_node": "multiply_0",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "multiply_0",
-            "in_port": "in_frame_1",
-            "out_node": "convert_1",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "multiply_0",
-            "in_port": "in_frame_2",
-            "out_node": "color_1",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "concat_3_0",
-            "in_port": "in_frame_3",
-            "out_node": "concat_2",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "colormap_2",
-            "in_port": "in_frame",
-            "out_node": "convert_2",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "convert_2",
-            "in_port": "in_frame",
-            "out_node": "normalize_2",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "concat_2",
-            "in_port": "in_frame_1",
-            "out_node": "convert_3",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "network_1",
-            "in_port": "input",
-            "out_node": "concat_3_0",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "concat_2",
-            "in_port": "in_frame_2",
-            "out_node": "colormap_2",
-            "out_port": "out_frame"
-        },
-        {
-            "in_node": "network_0",
-            "in_port": "frame",
-            "out_node": "network_1",
-            "out_port": "output"
         }
     ],
-    "description": "### SLIC Superpixels\n\nSuperpixel algorithms derive meaningful atomic primitives from dense grid images. Many computer vision algorithms can work with such regions, reducing both computational complexity and ambiguity.\n\nSLIC (Simple Linear Iterative Clustering) is a simple adaptation of k-means clustering that generates superpixels via iterative linear averaging and simple non-linear grouping.\n\n<sub>Achanta, Radhakrishna, et al. [\"SLIC superpixels compared to state-of-the-art superpixel methods.\"](https://infoscience.epfl.ch/record/149300/files/SLIC_Superpixels_TR_2.pdf) IEEE transactions on pattern analysis and machine intelligence 34.11 (2012): 2274-2282.</sub>",
+    "description": "### Depth based on SLIC Superpixels averaging\n\nSuperpixel algorithms derive meaningful atomic primitives from dense grid images, which can them be used in a variety of computer vision algorithms.\n\nBy averaging the depth values derived from the correspondence metric for each superpixel, we can create a piecewise-constant set of depth values that respect the continuous regions in the colours of the lightfield image.\n\n<sub>Achanta, Radhakrishna, et al. [\"SLIC superpixels compared to state-of-the-art superpixel methods.\"](https://infoscience.epfl.ch/record/149300/files/SLIC_Superpixels_TR_2.pdf) IEEE transactions on pattern analysis and machine intelligence 34.11 (2012): 2274-2282.</sub>\n\n<sub>Tao, Michael W., et al. [\"Depth from combining defocus and correspondence using light-field cameras.\"](https://www.cv-foundation.org/openaccess/content_iccv_2013/papers/Tao_Depth_from_Combining_2013_ICCV_paper.pdf) Proceedings of the IEEE International Conference on Computer Vision. 2013.</sub>\n\n<sub>Chuchvara, Aleksandra, Attila Barsi, and Atanas Gotchev. [\"Fast and Accurate Depth Estimation from Sparse Light Fields.\"](https://arxiv.org/pdf/1812.06856.pdf) IEEE Transactions on Image Processing (2019).</sub>",
     "nodes": {
         "color_0": {
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 317.258239746094,
-                    "y": 483.830322265625
+                    "x": 81.8122482299805,
+                    "y": 457.301208496094
                 }
             },
             "name": "color",
@@ -233,7 +233,7 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 501.355255126953,
+                    "x": 458.245422363281,
                     "y": 1188.66088867188
                 }
             },
@@ -247,7 +247,7 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 375.361755371094,
+                    "x": 332.251922607422,
                     "y": 1183.81494140625
                 }
             },
@@ -275,8 +275,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 128.066879272461,
-                    "y": 1020.85601806641
+                    "x": -107.379112243652,
+                    "y": 994.326904296875
                 }
             },
             "name": "concat",
@@ -290,7 +290,7 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 376.011260986328,
+                    "x": 332.901428222656,
                     "y": 1356.38647460938
                 }
             },
@@ -305,8 +305,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 874.367431640625,
-                    "y": 1969.54724121094
+                    "x": 806.528381347656,
+                    "y": 1974.765625
                 }
             },
             "name": "concat",
@@ -320,8 +320,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 482.047546386719,
-                    "y": 2237.22436523438
+                    "x": 594.796325683594,
+                    "y": 2204.06298828125
                 }
             },
             "name": "concat_3",
@@ -335,8 +335,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 832.801147460938,
-                    "y": 426.513916015625
+                    "x": 942.233764648438,
+                    "y": 827.766967773438
                 }
             },
             "name": "convert",
@@ -399,8 +399,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 148.766784667969,
-                    "y": 301.283843994141
+                    "x": -86.6792068481445,
+                    "y": 274.754730224609
                 }
             },
             "name": "image",
@@ -413,8 +413,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 489.557678222656,
-                    "y": 291.01904296875
+                    "x": 436.499420166016,
+                    "y": 599.420104980469
                 }
             },
             "name": "image",
@@ -427,8 +427,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 843.765502929688,
-                    "y": 284.229736328125
+                    "x": 953.198120117188,
+                    "y": 685.482788085938
                 }
             },
             "name": "image",
@@ -441,8 +441,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 256.573883056641,
-                    "y": 859.926391601562
+                    "x": 21.127893447876,
+                    "y": 833.397277832031
                 }
             },
             "name": "mean",
@@ -455,13 +455,13 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 490.611022949219,
+                    "x": 447.501190185547,
                     "y": 903.038513183594
                 }
             },
             "name": "mean",
             "ports": {
-                "mode": "mean"
+                "mode": "median"
             },
             "type": "opencv/superpixels/mean"
         },
@@ -484,8 +484,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 585.930786132812,
-                    "y": 2634.552734375
+                    "x": 705.311828613281,
+                    "y": 2525.1201171875
                 }
             },
             "connections": [
@@ -725,11 +725,23 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 587.163818359375,
-                    "y": 2471.244140625
+                    "x": 706.544860839844,
+                    "y": 2394.97290039062
                 }
             },
             "connections": [
+                {
+                    "in_node": "output_0",
+                    "in_port": "data",
+                    "out_node": "concat_0",
+                    "out_port": "out_frame"
+                },
+                {
+                    "in_node": "text_0",
+                    "in_port": "in_frame",
+                    "out_node": "empty_0",
+                    "out_port": "out_frame"
+                },
                 {
                     "in_node": "metadata_0",
                     "in_port": "frame",
@@ -743,10 +755,10 @@
                     "out_port": "data"
                 },
                 {
-                    "in_node": "text_1",
-                    "in_port": "in_frame",
-                    "out_node": "text_0",
-                    "out_port": "out_frame"
+                    "in_node": "empty_0",
+                    "in_port": "size",
+                    "out_node": "make_vec2u_0",
+                    "out_port": "out"
                 },
                 {
                     "in_node": "split_vec2u_0",
@@ -761,33 +773,27 @@
                     "out_port": "y"
                 },
                 {
-                    "in_node": "text_0",
+                    "in_node": "text_1",
                     "in_port": "in_frame",
-                    "out_node": "empty_0",
+                    "out_node": "text_0",
                     "out_port": "out_frame"
                 },
                 {
-                    "in_node": "empty_0",
-                    "in_port": "size",
-                    "out_node": "make_vec2u_0",
-                    "out_port": "out"
-                },
-                {
-                    "in_node": "output_0",
-                    "in_port": "data",
-                    "out_node": "concat_0",
+                    "in_node": "text_2",
+                    "in_port": "in_frame",
+                    "out_node": "text_1",
                     "out_port": "out_frame"
                 },
                 {
-                    "in_node": "text_2",
+                    "in_node": "text_3",
                     "in_port": "in_frame",
-                    "out_node": "text_1",
+                    "out_node": "text_2",
                     "out_port": "out_frame"
                 },
                 {
                     "in_node": "concat_0",
                     "in_port": "in_frame_1",
-                    "out_node": "text_2",
+                    "out_node": "text_3",
                     "out_port": "out_frame"
                 }
             ],
@@ -797,8 +803,8 @@
                     "blind_data": {
                         "type": "possumwood::NodeData",
                         "value": {
-                            "x": 687.016845703125,
-                            "y": 3169.44702148438
+                            "x": 693.649108886719,
+                            "y": 3491.11279296875
                         }
                     },
                     "name": "concat",
@@ -863,8 +869,8 @@
                     "blind_data": {
                         "type": "possumwood::NodeData",
                         "value": {
-                            "x": 902.72607421875,
-                            "y": 3358.66162109375
+                            "x": 909.358337402344,
+                            "y": 3680.32739257812
                         }
                     },
                     "name": "output",
@@ -955,7 +961,33 @@
                             "z": 255
                         },
                         "style/thickness": 1,
-                        "text": "Depth + conf"
+                        "text": "Depth +"
+                    },
+                    "type": "opencv/draw/text"
+                },
+                "text_3": {
+                    "blind_data": {
+                        "type": "possumwood::NodeData",
+                        "value": {
+                            "x": 648.076721191406,
+                            "y": 3121.1357421875
+                        }
+                    },
+                    "name": "text",
+                    "ports": {
+                        "font/face": "FONT_HERSHEY_DUPLEX",
+                        "font/scale": 1.0,
+                        "pos": {
+                            "x": 0,
+                            "y": 800
+                        },
+                        "style/color": {
+                            "x": 255,
+                            "y": 255,
+                            "z": 255
+                        },
+                        "style/thickness": 1,
+                        "text": "confidence"
                     },
                     "type": "opencv/draw/text"
                 }
@@ -966,7 +998,7 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 510.021545410156,
+                    "x": 466.911712646484,
                     "y": 1041.39208984375
                 }
             },
@@ -980,7 +1012,7 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 384.028045654297,
+                    "x": 340.918212890625,
                     "y": 1036.54614257812
                 }
             },
@@ -1008,8 +1040,8 @@
             "blind_data": {
                 "type": "possumwood::NodeData",
                 "value": {
-                    "x": 295.862609863281,
-                    "y": 633.991455078125
+                    "x": 60.416618347168,
+                    "y": 607.462341308594
                 }
             },
             "name": "slic_superpixels",
@@ -1031,7 +1063,7 @@
             },
             "name": "weighted_mean",
             "ports": {
-                "mode": "mean"
+                "mode": "median"
             },
             "type": "opencv/superpixels/weighted_mean"
         }
@@ -1042,5 +1074,5 @@
         "start_time": 0.0
     },
     "ui_geometry": "AdnQywADAAAAAAAAAAAAAAAAB38AAAQTAAAAAAAAABQAAASlAAACnAAAAAACAAAAB4AAAAAAAAAAGAAAB38AAAQT",
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+    "ui_state": "AAAA/wAAAAD9AAAAAgAAAAAAAAL8AAADbPwCAAAAAfsAAAAKAGcAcgBhAHAAaAEAAAB1AAADbAAAAJgBAAADAAAAAQAAAagAAANs/AIAAAAC+wAAABQAcAByAG8AcABlAHIAdABpAGUAcwEAAAB1AAABiAAAAHYBAAAD+wAAAAwAZQBkAGkAdABvAHIBAAAB/gAAAeMAAACqAQAAAwAAAtoAAANsAAAABAAAAAQAAAAIAAAACPwAAAAA"
 }
\ No newline at end of file
diff --git a/toolbars/09_lightfields_depth/71_superpixels_depth_screenshot.png b/toolbars/09_lightfields_depth/71_superpixels_depth_screenshot.png
new file mode 100644
index 00000000000..9163d58a95b
Binary files /dev/null and b/toolbars/09_lightfields_depth/71_superpixels_depth_screenshot.png differ