void EpochModel::depthFilter(FloatImage &depthImgf, FloatImage &countImgf, float depthJumpThr,
bool dilation, int dilationNumPasses, int dilationWinsize,
bool erosion, int erosionNumPasses, int erosionWinsize)
{
FloatImage depth;
FloatImage depth2;
int w = depthImgf.w;
int h = depthImgf.h;
depth=depthImgf;
if (dilation)
{
for (int k = 0; k < dilationNumPasses; k++)
{
depth.Dilate(depth2, dilationWinsize / 2);
depth=depth2;
}
}
if (erosion)
{
for (int k = 0; k < erosionNumPasses; k++)
{
depth.Erode(depth2, erosionWinsize / 2);
depth=depth2;
}
}
Histogramf HH;
HH.Clear();
HH.SetRange(0,depthImgf.MaxVal()-depthImgf.MinVal(),10000);
for(int i=1; i < static_cast<int>(depthImgf.v.size()); ++i)
HH.Add(fabs(depthImgf.v[i]-depth.v[i-1]));
if(logFP) fprintf(logFP,"**** Depth histogram 2 Min %f Max %f Avg %f Percentiles ((10)%f (25)%f (50)%f (75)%f (90)%f)\n",HH.MinV(),HH.MaxV(),HH.Avg(),
HH.Percentile(.1),HH.Percentile(.25),HH.Percentile(.5),HH.Percentile(.75),HH.Percentile(.9));
int deletedCnt=0;
depthJumpThr = static_cast<float>(HH.Percentile(0.8));
for (int y = 0; y < h; y++)
for (int x = 0; x < w; x++)
{
if ((depthImgf.Val(x, y) - depth.Val(x, y)) / depthImgf.Val(x, y) > 0.6)
{
countImgf.Val(x, y) = 0.0f;
++deletedCnt;
}
}
countImgf.convertToQImage().save("tmp_filteredcount.jpg","jpg");
if(logFP) fprintf(logFP,"**** depthFilter: deleted %i on %i\n",deletedCnt,w*h);
}
void Arc3DModel::depthFilter(FloatImage &depthImgf, FloatImage &countImgf, float depthJumpThr,
bool dilation, int dilationNumPasses, int dilationWinsize,
bool erosion, int erosionNumPasses, int erosionWinsize)
{
FloatImage depth;
FloatImage depth2;
int w = depthImgf.w;
int h = depthImgf.h;
depth=depthImgf;
if (dilation)
{
for (int k = 0; k < dilationNumPasses; k++)
{
depth.Dilate(depth2, dilationWinsize / 2);
depth=depth2;
}
}
if (erosion)
{
for (int k = 0; k < erosionNumPasses; k++)
{
depth.Erode(depth2, erosionWinsize / 2);
depth=depth2;
}
}
Histogramf HH;
HH.Clear();
HH.SetRange(0,depthImgf.MaxVal()-depthImgf.MinVal(),10000);
for(int i=1; i < static_cast<int>(depthImgf.v.size()); ++i)
HH.Add(fabs(depthImgf.v[i]-depth.v[i-1]));
int deletedCnt=0;
depthJumpThr = HH.Percentile(0.8f);
for (int y = 0; y < h; y++)
for (int x = 0; x < w; x++)
{
if ((depthImgf.Val(x, y) - depth.Val(x, y)) / depthImgf.Val(x, y) > 0.6)
{
countImgf.Val(x, y) = 0.0f;
++deletedCnt;
}
}
countImgf.convertToQImage().save("tmp_filteredcount.jpg","jpg");
}
void Arc3DModel::SmartSubSample(int factor, FloatImage &fli, CharImage &chi, FloatImage &subD, FloatImage &subQ, int minCount)
{
assert(fli.w==chi.w && fli.h==chi.h);
int w=fli.w/factor;
int h=fli.h/factor;
subQ.resize(w,h);
subD.resize(w,h);
for(int i=0;i<w;++i)
for(int j=0;j<h;++j)
{
float maxcount=0;
int cnt=0;
float bestVal=0;
for(int ki=0;ki<factor;++ki)
for(int kj=0;kj<factor;++kj)
{
float q= chi.Val(i*factor+ki,j*factor+kj) - minCount+1 ;
if(q>0)
{
maxcount+= q;
bestVal +=q*fli.Val(i*factor+ki,j*factor+kj);
cnt++;
}
}
if(cnt>0)
{
subD.Val(i,j)=float(bestVal)/maxcount;
subQ.Val(i,j)=minCount-1 + float(maxcount)/cnt ;
}
else
{
subD.Val(i,j)=0;
subQ.Val(i,j)=0;
}
}
}
void Arc3DModel::Laplacian2(FloatImage &depthImg, FloatImage &countImg, int minCount, CharImage &featureMask, float depthThr)
{
FloatImage Sum;
int w=depthImg.w,h=depthImg.h;
Sum.resize(w,h);
for(int y=1;y<h-1;++y)
for(int x=1;x<w-1;++x)
{
float curDepth=depthImg.Val(x,y);
int cnt=0;
for(int j=-1;j<=1;++j)
for(int i=-1;i<=1;++i)
{
int q=countImg.Val(x+i,y+j)-minCount+1;
if(q>0 && fabs(depthImg.Val(x+i,y+j)-curDepth) < depthThr) {
Sum.Val(x,y)+=q*depthImg.Val(x+i,y+j);
cnt+=q;
}
}
if(cnt>0) {
Sum.Val(x,y)/=cnt;
}
else Sum.Val(x,y)=depthImg.Val(x,y);
}
for(int y=1;y<h-1;++y)
for(int x=1;x<w-1;++x)
{
float q=(featureMask.Val(x,y)/255.0);
depthImg.Val(x,y) = depthImg.Val(x,y)*q + Sum.Val(x,y)*(1-q);
}
}
