cv::Mat LaneDetector::ObstacleRemoval(cv::Mat &image){
cv::Mat img_HSV(image.rows, image.cols, CV_8UC3);
cv::Mat binary_after_HSV_thresholding(image.rows, image.cols, CV_8UC1);
cv::Mat binary_dialated(image.rows, image.cols, CV_8UC1);
cv::Mat element = cv::getStructuringElement( cv::MORPH_RECT,
cv::Size( 2*obstacle_removal_dilation_size + 1, 2*obstacle_removal_dilation_size+1 ),
cv::Point( obstacle_removal_dilation_size, obstacle_removal_dilation_size ) );
/*if (debug_mode==2) {
FILE* obstacle_removal_threshold_file = fopen("data/obstacleRemovalThreshold.dat", "w");
cv::namedWindow("HSV Control Box",1);
cv::createTrackbar("Dilation element size","HSV Control Box", &obstacle_removal_dilation_size, 180,NULL);
cv::createTrackbar("Hue Threshold","HSV Control Box", &obstacle_removal_hue, 255,NULL);
cv::createTrackbar("Saturation Threshold","HSV Control Box", &obstacle_removal_saturation, 255,NULL);
cv::Mat element = cv::getStructuringElement( cv::MORPH_ELLIPSE,
cv::Size( 2*obstacle_removal_dilation_size + 1, 2*obstacle_removal_dilation_size+1 ),
cv::Point( obstacle_removal_dilation_size, obstacle_removal_dilation_size ) );
// cv::inRange(img_HSV, cv::Scalar(0, obstacle_removal_saturation,0), cv::Scalar(obstacle_removal_hue,256,255), binary_after_HSV_thresholding);
binary_after_HSV_thresholding = obst
cv::dilate(binary_after_HSV_thresholding, binary_dialated, element);
for (int i=0;i<binary_dialated.rows;i++) {
for (int j=0;j<binary_dialated.cols;j++) {
image.at<cv::Vec3b>(i,j)[0] = ( 255 - binary_dialated.at<uchar>(i,j) ) & image.at<cv::Vec3b>(i,j)[0];
image.at<cv::Vec3b>(i,j)[1] = ( 255 - binary_dialated.at<uchar>(i,j) ) & image.at<cv::Vec3b>(i,j)[1];
image.at<cv::Vec3b>(i,j)[2] = ( 255 - binary_dialated.at<uchar>(i,j) ) & image.at<cv::Vec3b>(i,j)[2];
}
}
cv::imshow("HSV Control Box", image);
fprintf(obstacle_removal_threshold_file, "%d %d %d", obstacle_removal_dilation_size, obstacle_removal_hue, obstacle_removal_saturation);
fclose(obstacle_removal_threshold_file);
return image;
}*/ /* (debug==2) */
binary_after_HSV_thresholding = ObstacleRemovedBinary(image);
cv::dilate(binary_after_HSV_thresholding, binary_dialated, element);
for (int i=0;i<binary_dialated.rows;i++) {
for (int j=0;j<binary_dialated.cols;j++) {
image.at<cv::Vec3b>(i,j)[0] = ( 255 - binary_dialated.at<uchar>(i,j) ) & image.at<cv::Vec3b>(i,j)[0];
image.at<cv::Vec3b>(i,j)[1] = ( 255 - binary_dialated.at<uchar>(i,j) ) & image.at<cv::Vec3b>(i,j)[1];
image.at<cv::Vec3b>(i,j)[2] = ( 255 - binary_dialated.at<uchar>(i,j) ) & image.at<cv::Vec3b>(i,j)[2];
}
}
return image;
}
cv::Mat ObstacleRemovedBinary(cv::Mat &image){
cv::Mat binary_after_HSV_thresholding(image.rows, image.cols, CV_8UC1, cv::Scalar(0,0,0));
float h=0, s=0, v=0;
for (int i=0;i<image.rows;i++) {
for (int j=0;j<image.cols;j++) {
if( image.at<cv::Vec3b>(i,j)[0] && image.at<cv::Vec3b>(i,j)[1] && image.at<cv::Vec3b>(i,j)[2]){
rgb2hsv( h, s, v, (int)image.at<cv::Vec3b>(i,j)[2], (int)image.at<cv::Vec3b>(i,j)[1], (int)image.at<cv::Vec3b>(i,j)[0]);
if( h < obstacle_removal_hue && s > obstacle_removal_saturation ) {
binary_after_HSV_thresholding.at<cv::Vec3b>(i,j)[0] = 255;
}
}
}
}
return binary_after_HSV_thresholding;
}
cv::Mat LaneDetector::ObstacleRemoval(cv::Mat &image){
cv::Mat img_HSV(image.rows,image.cols,CV_8UC3);
cv::Mat binary_after_HSV_thresholding(image.rows,image.cols,CV_8UC1);
cv::Mat binary_dialated(image.rows,image.cols,CV_8UC1);
cvtColor(image,img_HSV,CV_BGR2HSV);
cv::Mat element = cv::getStructuringElement( cv::MORPH_ELLIPSE,
cv::Size( 2*obstacle_removal_dilation_size + 1, 2*obstacle_removal_dilation_size+1 ),
cv::Point( obstacle_removal_dilation_size, obstacle_removal_dilation_size ) );
if (debug_mode==2) {
cv::namedWindow("HSV Control Box",1);
int h=0,s=0,v=0;
cv::createTrackbar("lower hue value","HSV Control Box",&h,180,NULL);
cv::createTrackbar("upper hue value","HSV Control Box",&s,255,NULL);
cv::createTrackbar("lower saturation value","HSV Control Box",&v,255,NULL);
do {
cv::inRange(img_HSV, cv::Scalar(h-1,v-1,-1), cv::Scalar(s,256,255), binary_after_HSV_thresholding);
cv::imshow("HSV Control Box",binary_after_HSV_thresholding);
cv::dilate(binary_after_HSV_thresholding, binary_dialated, element);
if (cv::waitKey(33)==27) {
break;
}
} while (true);
} /* (debug==2) */
cv::inRange(img_HSV, cv::Scalar(0, obstacle_removal_saturation,0), cv::Scalar(obstacle_removal_hue,256,255), binary_after_HSV_thresholding);
cv::dilate(binary_after_HSV_thresholding, binary_dialated, element);
for (int i=0;i<binary_dialated.rows;i++) {
for (int j=0;j<binary_dialated.cols;j++) {
if (binary_dialated.at<uchar>(i,j)==255) {
image.at<cv::Vec3b>(i,j)[0]=image.at<cv::Vec3b>(i,j)[1]=image.at<cv::Vec3b>(i,j)[2]=0;
}
}
}
return image;
}