void draw_depth_image(FILE *file, int width, int height) {
image *img = image_create(width, height);
image_downsample(depth_image, img);
int x, y;
unsigned char pixel, c;
for (y = 0; y < height; y++) {
for (x = 0; x < width; x++) {
pixel = image_get_pixel(img, x, y);
if (pixel < 0x40) {
c = '%';
} else if (pixel < 0x80) {
c = '+';
} else if (pixel < 0xC0) {
c = '.';
} else {
c = ' ';
}
fputc(c, file);
}
fputc('\n', file);
}
image_destroy(img);
}
void image_median_filter(image_t* orig, int limits[2], int* pixels)
{
int rgb;
int r_sum;
int g_sum;
int b_sum;
int rgb_count;
int i;
int j;
int x;
int y;
int ax;
int ay;
int initial;
int end;
int rank;
int size;
initial = limits[0];
end = limits[1];
printf(".. Median filter between %d and %d!\n", initial, end);
int k = 0;
for (j = initial; j <= end; j++)
{
r_sum = 0;
g_sum = 0;
b_sum = 0;
rgb_count = 0;
// for each pixel in 3x3 mask
for (y = -1; y <= 1; y++)
{
for (x = -1; x <= 1; x++)
{
// current pixel, so just continue
if (y == 1 && x == 1)
continue;
ay = j/orig->width + y;
ax = j%orig->width + x;
// check if pixel is in image
if (ay >= 0 && ay < orig->height && ax >= 0 && ax < orig->width)
{
rgb = image_get_pixel(orig, ax, ay);
r_sum += (rgb) & 0xFF;
g_sum += (rgb >> 8) & 0xFF;
b_sum += (rgb >> 16) & 0xFF;
rgb_count++;
}
}
}
rgb = (r_sum/rgb_count << 16) | (g_sum/rgb_count << 8) | b_sum/rgb_count | (255 << 24);
pixels[k++] = rgb;
}
