int segmentRGBAndDepthFrame ( unsigned char * RGB ,
unsigned short * Depth ,
unsigned int width , unsigned int height ,
struct SegmentationFeaturesRGB * segConfRGB ,
struct SegmentationFeaturesDepth * segConfDepth,
struct calibration * calib ,
int combinationMode
)
{
//We have some criteria for segmentation at segConfRGB , and segConfDepth
//First of all we want to use them and the original frames (RGB,Depth) , and select ( on an abstract array )
//the areas we want and the areas we don't want ..
//We select the area for segmentation from RGB frame
unsigned char * selectedRGB = selectSegmentationForRGBFrame(RGB , width , height , segConfRGB , calib);
//We select the area for segmentation from Depth frame
unsigned char * selectedDepth = selectSegmentationForDepthFrame(Depth , width , height , segConfDepth , calib);
//We may chose to combine , or make a different selection for the RGB and Depth Frame
if ( combinationMode == DONT_COMBINE )
{
//If we dont want to combine them we just execute the selection and RGB will
//now have the segmented output frame
executeSegmentationRGB(RGB,selectedRGB,width,height,segConfRGB);
//The same goes for Depth
executeSegmentationDepth(Depth,selectedDepth,width,height,segConfDepth);
} else
{
//If we do want to combine the selections "Together" , and there are many ways to do that using
//the combinationMode switch ( see enum combinationModesEnumerator ) , we first make a new selection
//and then execute the segmentation using it
unsigned char * combinedSelection = combineRGBAndDepthToOutput(selectedRGB,selectedDepth,combinationMode,width,height);
if (combinedSelection==0)
{
fprintf(stderr,"Failed to combine outputs using method %u\Cannot execute segmentation\n",combinationMode);
} else
{
int segmentRGBAndDepthFrame ( unsigned char * RGB ,
unsigned short * Depth ,
unsigned int width , unsigned int height ,
struct SegmentationFeaturesRGB * segConfRGB ,
struct SegmentationFeaturesDepth * segConfDepth,
struct calibration * calib ,
int combinationMode
)
{
struct calibration lastMomentEmptyCalibration={0};
if (RGB==0)
{
fprintf(stderr,"segmentRGBAndDepthFrame called with a null RGB frame \n");
return 0;
}
if (Depth==0)
{
fprintf(stderr,"segmentRGBAndDepthFrame called with a null Depth frame \n");
return 0;
}
if (calib==0)
{
fprintf(stderr,"segmentRGBAndDepthFrame called with a null Calibration , generating an ephimeral one now \n");
NullCalibration( width, height, &lastMomentEmptyCalibration );
calib=&lastMomentEmptyCalibration;
}
if (segConfRGB==0) { fprintf(stderr,"segmentRGBAndDepthFrame called with a null RGB Segmentation configuration \n"); } else
if (!segConfRGB->isInitialized) { fprintf(stderr,"segmentRGBAndDepthFrame called with a non initialized RGB Segmentation configuration\n"); }
if (segConfDepth==0) { fprintf(stderr,"segmentRGBAndDepthFrame called with a null Depth Segmentation configuration \n"); } else
if (!segConfDepth->isInitialized) { fprintf(stderr,"segmentRGBAndDepthFrame called with a non initialized Depth Segmentation configuration\n"); }
if (segConfDepth->autoPlaneSegmentation)
{
automaticPlaneSegmentation(Depth,width,height,
segConfDepth->autoPlaneSegmentationMinimumDistancePoint ,
segConfDepth->autoPlaneSegmentationMaximumDistancePoint ,
segConfDepth->planeNormalOffset,
segConfDepth->planeNormalSize,
segConfDepth,
calib);
}
//We have some criteria for segmentation at segConfRGB , and segConfDepth
//First of all we want to use them and the original frames (RGB,Depth) , and select ( on an abstract array )
//the areas we want and the areas we don't want ..
//We select the area for segmentation from RGB frame
unsigned int selectedRGBCount=0;
unsigned char * selectedRGB = selectSegmentationForRGBFrame(RGB , width , height , segConfRGB , calib , &selectedRGBCount);
//We select the area for segmentation from Depth frame
unsigned int selectedDepthCount=0;
unsigned char * selectedDepth = selectSegmentationForDepthFrame(Depth , width , height , segConfDepth , calib , &selectedDepthCount);
if (
(selectedDepthCount==width*height) &&
(selectedRGBCount==width*height)
)
{
fprintf(stderr,"Both RGB and Depth are fully selected , fastpath doing nothing\n");
} else
{
//We may chose to combine , or make a different selection for the RGB and Depth Frame
if ( combinationMode == DONT_COMBINE )
{
//If we dont want to combine them we just execute the selection and RGB will
//now have the segmented output frame
executeSegmentationRGB(RGB,selectedRGB,width,height,segConfRGB,selectedRGBCount,combinationMode);
//The same goes for Depth
executeSegmentationDepth(Depth,selectedDepth,width,height,selectedDepthCount,combinationMode);
} else
if (combinationMode == COMBINE_RGBFULL_DEPTH_USE_RGB )
{
//RGB frame is unaffected , Depth Frame uses RGB Segmentation
executeSegmentationDepth(Depth,selectedRGB,width,height,selectedDepthCount,combinationMode);
} else
if (combinationMode == COMBINE_DEPTHFULL_RGB_USE_DEPTH )
{
//Depth frame is unaffected , RGB Frame uses DepthSegmentation
executeSegmentationRGB(RGB,selectedDepth,width,height,segConfRGB,selectedRGBCount,combinationMode);
} else
if (combinationMode == COMBINE_SWAP )
{
//If we want to swap RGB and Depth we just swap it
executeSegmentationRGB(RGB,selectedDepth,width,height,segConfRGB,selectedRGBCount,combinationMode);
//The same goes for Depth
executeSegmentationDepth(Depth,selectedRGB,width,height,selectedDepthCount,combinationMode);
} else
{
//If we do want to combine the selections "Together" , and there are many ways to do that using
//the combinationMode switch ( see enum combinationModesEnumerator ) , we first make a new selection
//and then execute the segmentation using it
unsigned char * combinedSelection = combineRGBAndDepthToOutput(selectedRGB,selectedDepth,combinationMode,width,height);
if (combinedSelection==0)
{
fprintf(stderr,"Failed to combine outputs using method %u\nCannot execute segmentation\n",combinationMode);
} else
{
//We use the combinedSelection for both RGB and Depth
executeSegmentationRGB(RGB,combinedSelection,width,height,segConfRGB,selectedRGBCount,combinationMode);
executeSegmentationDepth(Depth,combinedSelection,width,height,selectedDepthCount,combinationMode);
//And we dont forget to free our memory
if (combinedSelection!=0) { free(combinedSelection); combinedSelection=0; }
}
}
} // We do COMBINE LOGIC
//Free memory from selections..
if (selectedRGB!=0) { free(selectedRGB); selectedRGB=0; }
if (selectedDepth!=0) { free(selectedDepth); selectedDepth=0; }
return 1;
}
