void FilterPCL::FilterScene(Point3D::Cloud& input, Point3D::Cloud& output) const {
float Y ;
float Cb;
float Cr;
// filtr w przestrzeni kolorów YCbCr
for(int i=0; i<input.size(); i++) {
Y=0.299*(float)input[i].colour.r+0.587*(float)input[i].colour.g+0.114*(float)input[i].colour.b;
Cb=128-0.168935*(float)input[i].colour.r-0.331665*(float)input[i].colour.g+0.50059*(float)input[i].colour.b;
Cr=128+0.499813*(float)input[i].colour.r-0.418531*(float)input[i].colour.g-0.081282*(float)input[i].colour.b;
if(Cb>=77 && Cb <=127 && Cr>=133 && Cr<=173) {
output[i].colour.r=255;
output[i].colour.g=255;
output[i].colour.b=255;
}
}
// dzia³anie na pliku z dysku
/*
float Y ;
float Cb;
float Cr;
unsigned char r;
unsigned char g;
unsigned char b;
bitmap_image image("sciezka_pliku");
const unsigned int height = image.height();
const unsigned int width = image.width();
for (std::size_t y = 0; y < height; ++y)
{
for (std::size_t x = 0; x < width; ++x)
{
image.get_pixel(x,y,r,g,b);
Y=0.299*r+0.587*g+0.114*b;
Cb=128-0.168935*r-0.331665*g+0.50059*b;
Cr=128+0.499813*r-0.418531*g-0.081282*b;
// Y > 80, 85 < Cb < 135, and 135 < Cr < 180 // warianty przedzia³ów
// 77 <= Cb <= 127, and 133 <= Cr <= 173
if(Cb>=77 && Cb <=127 && Cr>=133 && Cr<=173)
image.set_pixel(x,y,255,255,255);
}
}
image.save_image("sciezka_pliku_out");
*/
// fragment testowy
/*for(int i=0;i<input.size();i++){
if(input[i].colour.r<150)
output[i].colour.r=0;
}*/
}
// funkcja filtrujaca chmure punktow
void FilterPCL::FilterScene(Point3D::Cloud& input, Point3D::Cloud& output_cloud) const {
float Y ;
float Cb;
float Cr;
int i_out=0;
Point3D temp;
Point3D output;
Point3D::Cloud temp_cloud;
int av=0;
// filtr w przestrzeni kolorow YCbCr
for(size_t i=0;i<input.size();i++){
//konwersja przestrzeni RGB na YCbCr
Y=0.299*(float)input[i].colour.r+0.587*(float)input[i].colour.g+0.114*(float)input[i].colour.b;
Cb=128-0.168935*(float)input[i].colour.r+0.331665*(float)input[i].colour.g+0.50059*(float)input[i].colour.b;
Cr=128+0.499813*(float)input[i].colour.r-0.418531*(float)input[i].colour.g-0.081282*(float)input[i].colour.b;
if(Cb>=80 && Cb <=135 && Cr>=131 && Cr<=185){ //przedzial kolorow dla skory w przestrzeni YCbCr
// if(Cb>=77 && Cb <=127 && Cr>=133 && Cr<=173){ //przedzial kolorow dla skory w przestrzeni YCbCr
temp.colour.r=input[i].colour.r;
temp.colour.g=input[i].colour.g;
temp.colour.b=input[i].colour.b;
temp.position.x=input[i].position.x;
temp.position.y=input[i].position.y;
temp.position.z=input[i].position.z;
av+=int(temp.position.z*1000); //srednia wartosc glebii
temp_cloud.push_back(temp);
i_out++; //inkrementacja licznika elementów chmury wyjsciowej
}
}
av=(float)av/(float)i_out; //srednia wartosc glebii
i_out=0;
//filtracja wg glebii
for(int i=0;i<temp_cloud.size();i++){
if (abs(1000*temp_cloud[i].position.z-av)<300){ // w milimetrach
output.colour.r=temp_cloud[i].colour.r;
output.colour.g=temp_cloud[i].colour.g;
output.colour.b=temp_cloud[i].colour.b;
output.position.x=temp_cloud[i].position.x;
output.position.y=temp_cloud[i].position.y;
output.position.z=temp_cloud[i].position.z;
if (std::isnan(output.position.x) == false)
output_cloud.push_back(output);
}
}
}