int main(int argc, char *argv[])
{
ZMQ_NTL ntl("../config/pubsub.yaml", false);
std::string data;
while(true){
ntl.receive(data);
std::cout << data << std::endl;
ntl.send(data);
}
return 0;
}
cv::Mat BoxFilter::perform(std::vector<cv::Mat> in_d){
assert(in_d.size() > 0);
assert(in_d[0].type() == CV_64F);
int R = in_d[0].rows;
int C = in_d[0].cols;
int Z = in_d.size();
cv::Mat out = cv::Mat::zeros(R, C, CV_64F);
for (int b = 0; b < _boxes.size(); b++){
int l_start = 0; // near layer = 0
int l_end = Z - 1; // far layer = last
// Near layers
cv::Mat ntl(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
cv::Mat ntr(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
cv::Mat nbl(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
cv::Mat nbr(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
cv::Range rs[2];
if (l_start > 0){
rs[0] = cv::Range(_boxes[b].tl().y, R - _shape[0] + _boxes[b].tl().y);
rs[1] = cv::Range(_boxes[b].tl().x, C - _shape[1] + _boxes[b].tl().x);
ntl = cv::Mat(in_d[l_start-1], rs); // ntl: Near-Top-Left layer, -1 because near layer of box filtering process
rs[0] = cv::Range(_boxes[b].tl().y, R - _shape[0] + _boxes[b].tl().y);
rs[1] = cv::Range(_boxes[b].br().x, C - _shape[1] + _boxes[b].br().x);
ntr = cv::Mat(in_d[l_start-1], rs); // ntr: Near-Top-Right layer
rs[0] = cv::Range(_boxes[b].br().y, R - _shape[0] + _boxes[b].br().y);
rs[1] = cv::Range(_boxes[b].tl().x, C - _shape[1] + _boxes[b].tl().x);
nbl = cv::Mat(in_d[l_start-1], rs); // nbl: Near-Bottom-Left layer
rs[0] = cv::Range(_boxes[b].br().y, R - _shape[0] + _boxes[b].br().y);
rs[1] = cv::Range(_boxes[b].br().x, C - _shape[1] + _boxes[b].br().x);
nbr = cv::Mat(in_d[l_start-1], rs); // nbr: Near-Bottom-Right layer
}
else{
ntl = cv::Mat(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
ntr = cv::Mat(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
nbl = cv::Mat(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
nbr = cv::Mat(R - _shape[0], C - _shape[1], CV_64F, cv::Scalar::all(0.0));
}
// Far layers
rs[0] = cv::Range(_boxes[b].tl().y, R - _shape[0] + _boxes[b].tl().y);
rs[1] = cv::Range(_boxes[b].tl().x, C - _shape[1] + _boxes[b].tl().x);
cv::Mat ftl = cv::Mat(in_d[l_end], rs); // ftl: Far-Top-Left layer
rs[0] = cv::Range(_boxes[b].tl().y, R - _shape[0] + _boxes[b].tl().y);
rs[1] = cv::Range(_boxes[b].br().x, C - _shape[1] + _boxes[b].br().x);
cv::Mat ftr = cv::Mat(in_d[l_end], rs); // ftr: Far-Top-Right layer
rs[0] = cv::Range(_boxes[b].br().y, R - _shape[0] + _boxes[b].br().y);
rs[1] = cv::Range(_boxes[b].tl().x, C - _shape[1] + _boxes[b].tl().x);
rs[2] = cv::Range(l_end, l_end + 1);
cv::Mat fbl = cv::Mat(in_d[l_end], rs); // fbl: Far-Bottom-Left layer
rs[0] = cv::Range(_boxes[b].br().y, R - _shape[0] + _boxes[b].br().y);
rs[1] = cv::Range(_boxes[b].br().x, C - _shape[1] + _boxes[b].br().x);
rs[2] = cv::Range(l_end, l_end + 1);
cv::Mat fbr = cv::Mat(in_d[l_end], rs); // fbr: Far-Bottom-Right layer
// apply zero padding
int pad_left = ceil((double) _shape[1] / 2.0);
int pad_top = ceil((double) _shape[0] / 2.0);
int pad_right = _shape[1]/2;
int pad_bottom = _shape[0]/2;
cv::Mat ntl_p(R, C, CV_64F); // ntl: Near-Top-Left layer
cv::copyMakeBorder(ntl, ntl_p, pad_top + 1, pad_bottom - 1,
pad_left + 1, pad_right - 1, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat ntr_p(R, C, CV_64F); // ntr: Near-Top-Right layer
cv::copyMakeBorder(ntr, ntr_p, pad_top + 1, pad_bottom - 1,
pad_left, pad_right, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat nbl_p(R, C, CV_64F); // nbl: Near-Bottom-Left layer
cv::copyMakeBorder(nbl, nbl_p, pad_top, pad_bottom,
pad_left + 1, pad_right - 1, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat nbr_p(R, C, CV_64F); // nbr: Near-Bottom-Right layer
cv::copyMakeBorder(nbr, nbr_p, pad_top, pad_bottom,
pad_left, pad_right, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat ftl_p(R, C, CV_64F); // ftl: Far-Top-Left layer
cv::copyMakeBorder(ftl, ftl_p, pad_top + 1, pad_bottom - 1,
pad_left + 1, pad_right - 1, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat ftr_p(R, C, CV_64F); // ftr: Far-Top-Right layer
cv::copyMakeBorder(ftr, ftr_p, pad_top + 1, pad_bottom - 1,
pad_left, pad_right, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat fbl_p(R, C, CV_64F); // fbl: Far-Bottom-Left layer
cv::copyMakeBorder(fbl, fbl_p, pad_top, pad_bottom,
pad_left + 1, pad_right - 1, cv::BORDER_CONSTANT, cv::Scalar::all(0));
cv::Mat fbr_p(R, C, CV_64F); // fbr: Far-Bottom-Right layer
cv::copyMakeBorder(fbr, fbr_p, pad_top, pad_bottom,
pad_left, pad_right, cv::BORDER_CONSTANT, cv::Scalar::all(0));
// obtain filtered image with a weighted sum of layers
// equation for box filtering
out += _boxes[b].v() * (fbr_p - nbr_p - ftr_p - fbl_p + ftl_p + nbl_p + ntr_p - ntl_p);
}
// cv::Range ran[2];
// ran[0] = cv::Range(_shape[0], out.rows - shape[0]);
// ran[1] = cv::Range(_shape[1], out.cols - shape[1]);
return out(cv::Range(_shape[0]/2 + 1, out.rows - _shape[0]/2 - 1), cv::Range(_shape[1]/2 + 1, out.cols - _shape[1]/2 - 1));
}
