From 46ff164e15b2d9c7b6e225f8d8b6302a99daa83d Mon Sep 17 00:00:00 2001
From: "simon.fanetti" <simon.fanetti@etu.hesge.ch>
Date: Fri, 17 Jul 2020 15:37:22 +0200
Subject: [PATCH] update holefilling with 1st non null neighbour
---
app/SandboxSetup/croppingmask.cpp | 2 +-
inc/projection.h | 5 ++++-
src/components/projection.cpp | 26 +++++++++-----------------
3 files changed, 14 insertions(+), 19 deletions(-)
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index 11f0af1..71b138c 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -87,7 +87,7 @@ void CroppingMask::init(){
}
// no config found
- if(rectPoints.empty() || !maskValideInFrame(&cameraColoredFrame)){
+ if(!maskValideInFrame(&cameraColoredFrame)){
float y = cameraColoredFrame.size().height;
float x = cameraColoredFrame.size().width;
rectPoints = std::vector<cv::Point2i>{ cv::Point2i(1.0/4*x, 1.0/4*y), cv::Point2i(1.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 1.0/4*y) };
diff --git a/inc/projection.h b/inc/projection.h
index 8e02ba3..f088b89 100644
--- a/inc/projection.h
+++ b/inc/projection.h
@@ -10,13 +10,16 @@ class Projection{
cv::Mat_<float> adjustingMatrix;
float distanceTopSandbox;
+ // resized depth frame to dst resolution
cv::Mat_<float> resized_depth;
+ // resized src to project to dst resolution
cv::Mat_<cv::Vec3b> resized_src;
// Buffer containing the pixels's new location when deprojected to beamer's POV
cv::Mat_<cv::Point2i> deprojectMap;
- // Buffer indicating from where to get the pixels in the source frame
+ // Buffer indicating from where to get the pixels in the source frame to build the output
cv::Mat_<cv::Point2i> frameMap;
+ // intrinsics parameters for deprojection, which are adapted to projection's resolution
cv::Point2f fxy;
cv::Point2f ppxy;
diff --git a/src/components/projection.cpp b/src/components/projection.cpp
index 95dad2c..196dd55 100644
--- a/src/components/projection.cpp
+++ b/src/components/projection.cpp
@@ -172,7 +172,7 @@ void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frame
}
/*
- average of non null neighbours
+ fill with value of the 1st non null neighbour
*/
void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &frameMap){
@@ -181,34 +181,26 @@ void Projection::holeFilling(cv::Mat_<cv::Vec3b> &dst, cv::Mat_<cv::Point2i> &fr
if(frameMap.at<cv::Point2i>(i,j) == cv::Point2i(-1,-1)){
- int cpt = 0;
- int r = 0;
- int g = 0;
- int b = 0;
+ cv::Vec3b color;
+ bool found = false;
- for(int d_y = -1; d_y <= 1; d_y++){
- for(int d_x = -1; d_x <= 1; d_x++){
+ for(int d_y = -1; d_y <= 1 && !found; d_y++){
+ for(int d_x = -1; d_x <= 1 && !found; d_x++){
if(!(d_x == 0 && d_y == 0)){
int y = i+d_y;
int x = j+d_x;
if( ((0 <= x && x < dst.cols) && (0 <= y && y < dst.rows)) && (frameMap.at<cv::Point2i>(y,x) != cv::Point2i(-1,-1)) ){
- cv::Vec3b color = dst.at<cv::Vec3b>(y,x);
- r += color[0];
- g += color[1];
- b += color[2];
- cpt++;
+ color = dst.at<cv::Vec3b>(y,x);
+ found = true;
}
}
}
}
- if(cpt > 0){
- r /= cpt;
- g /= cpt;
- b /= cpt;
- dst.at<cv::Vec3b>(i,j) = cv::Vec3b(r,g,b);
+ if(found){
+ dst.at<cv::Vec3b>(i,j) = color;
}
}
}
--
GitLab