void apply_mask(cv::Mat1b& im, const cv::Mat1b& mask)
{
if (!mask.data)
return;
ntk_assert(im.size() == mask.size(), "Wrong mask size");
for_all_rc(im)
if (mask(r,c) == 0)
im(r,c) = 0;
}
void Binalize(const cv::Mat& depth_image, const cv::Mat& uv_map, cv::Mat1b& binary_image, short depth_threshold_mm) {
assert(depth_image.size() == uv_map.size());
assert(depth_image.type() == CV_16SC1);
assert(uv_map.type() == CV_32FC2);
cv::Size binary_size = binary_image.size();
//Clear all pixels of binary_image
binary_image = 0;
cv::Size loop_size = depth_image.size();
if(depth_image.isContinuous() && uv_map.isContinuous()) {
loop_size.width *= loop_size.height;
loop_size.height = 1;
}
for(int i = 0; i < loop_size.height; ++i) {
const short* depth = depth_image.ptr<short>(i);
const cv::Vec2f* uv = uv_map.ptr<cv::Vec2f>(i);
for(int j = 0; j < loop_size.width; ++j) {
if(depth[j] < depth_threshold_mm) {
int x = cvRound(uv[j][0] * binary_size.width);
int y = cvRound(uv[j][1] * binary_size.height);
if(0 <= x && x < binary_size.width && 0 <= y && y < binary_size.height) {
binary_image.at<unsigned char>(cv::Point(x, y)) = 255;
}
}
}
}
}
void ObjectDetector :: detect(const cv::Mat1f& distance_image,
cv::Mat1b& mask_image,
std::list<cv::Rect>& rects)
{
if (mask_image.size() != distance_image.size())
mask_image = cv::Mat1b(distance_image.size());
for (int r = 0; r < distance_image.rows; ++r)
for (int c = 0; c < distance_image.cols; ++c)
{
if (distance_image(r,c) >= m_min_threshold && distance_image(r,c) <= m_max_threshold)
mask_image(r,c) = 255;
else
mask_image(r,c) = 0;
}
cv::morphologyEx(mask_image, mask_image,
cv::MORPH_OPEN,
getStructuringElement(cv::MORPH_RECT,
cv::Size(3,3)));
cv::morphologyEx(mask_image, mask_image,
cv::MORPH_CLOSE,
getStructuringElement(cv::MORPH_RECT,
cv::Size(3,3)));
std::vector< std::vector<cv::Point> > contours;
cv::Mat1b contour_image = mask_image.clone();
cv::findContours(contour_image, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
for (int i = 0; i < contours.size(); ++i)
{
cv::Rect rect = cv::boundingRect(cv::Mat(contours[i]));
if (rect.area() > 300)
rects.push_back(rect);
}
}
void BlendScreen(cv::Mat3b& target_image, const cv::Mat1b& binary_image, cv::Vec3b color) {
assert(target_image.size() == binary_image.size());
cv::Size loop_size = target_image.size();
if(target_image.isContinuous() && binary_image.isContinuous()) {
loop_size.width *= loop_size.height;
loop_size.height = 1;
}
for(int i = 0; i < loop_size.height; ++i) {
cv::Vec3b* target = target_image.ptr<cv::Vec3b>(i);
const unsigned char* binary = binary_image.ptr<unsigned char>(i);
for(int j = 0; j < loop_size.width; ++j) {
if(!binary[j]) {
target[j][0] = target[j][0] + color[0] - (target[j][0] * color[0]) / 255;
target[j][1] = target[j][1] + color[1] - (target[j][1] * color[1]) / 255;
target[j][2] = target[j][2] + color[2] - (target[j][2] * color[2]) / 255;
}
}
}
}