diff --git a/camera.cpp b/camera.cpp index fe7416c..1c3dcaa 100644 --- a/camera.cpp +++ b/camera.cpp @@ -46,11 +46,15 @@ ONNXRunner runner; std::map params; -int widthBlocks = 22; +int widthBlocks = 20; int heightBlocks = 512; int sizeThreshold = 20; +int padLeft = 1; +int padRight = 1; int rowRange = 0; int ignoreSide=2; +int skipLeftCols=10; +int skipRightCols=10; static std::vector> tail_0(0); static std::vector> tail_1(0); @@ -187,7 +191,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) // timer1.restart(); - auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange,ignoreSide); + auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols); tail_1 = newTail; @@ -197,6 +201,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) // std::vector> mask_Color1 = generateMaskFromImage(detection_result1, widthBlocks, heightBlocks, thresholds); + PadColumns(mask_1,padLeft,padRight,0); std::vector> mask_Total = expandArray(mask_1,64); // timer1.printElapsedTime("expand finished"); @@ -216,7 +221,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) // } // } // save masks - vector> mask = generateMask(detection_result0, widthBlocks, heightBlocks, sizeThreshold,ignoreSide); + vector> mask = generateMask(detection_result0, widthBlocks, heightBlocks, sizeThreshold,skipLeftCols, skipRightCols); #if(GlobalDebug && DebugDetection) VectorToImg(mask,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp"); VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp"); @@ -1176,13 +1181,13 @@ void VectorToImg(const std::vector > &array, const std::str imwrite(image_path, image); } - vector> generateMask( const MIL_ID& inputImg, int outputWidth, int outputHeight, int sizeThreshold, - int ignoreSide=2 + int skipLeftCols, + int skipRightCols ) { cv::Mat image = mil2mat(inputImg); @@ -1192,27 +1197,27 @@ vector> generateMask( int imageWidth = image.cols; int imageHeight = image.rows; - int blockWidth = imageWidth / outputWidth; + // Adjust image width by excluding skipLeftCols and skipRightCols + int effectiveWidth = imageWidth - skipLeftCols - skipRightCols; + if (effectiveWidth <= 0) { + throw std::invalid_argument("Invalid column skip values. Effective width is less than or equal to zero."); + } + + int blockWidth = effectiveWidth / outputWidth; int blockHeight = imageHeight / outputHeight; vector> mask(outputHeight, vector(outputWidth, 0)); for (int i = 0; i < outputHeight; ++i) { for (int j = 0; j < outputWidth; ++j) { - if((j<=ignoreSide) ||((outputHeight-j)<= ignoreSide) ) - { - mask[i][j] = 0; - continue; - } - int x_start = j * blockWidth; + int x_start = skipLeftCols + j * blockWidth; int y_start = i * blockHeight; - int x_end = (j == outputWidth - 1) ? imageWidth : (j + 1) * blockWidth; + int x_end = (j == outputWidth - 1) ? (imageWidth - skipRightCols) : (skipLeftCols + (j + 1) * blockWidth); int y_end = (i == outputHeight - 1) ? imageHeight : (i + 1) * blockHeight; cv::Mat block = image(cv::Rect(x_start, y_start, x_end - x_start, y_end - y_start)); int whitePixelCount = cv::countNonZero(block); - if (whitePixelCount > sizeThreshold) { mask[i][j] = 1; } @@ -1222,6 +1227,7 @@ vector> generateMask( return mask; } + pair>, vector>> applyRowRangeDelay( const vector>& mask, const vector>& tail, @@ -1280,11 +1286,12 @@ pair>, vector>> generateMaskWithTail( int outputWidth, int outputHeight, int sizeThreshold = 10, - int rowRange = 50, - int ignoreSide=2 + int rowRange=1, + int skipLeftCols=10, + int skipRightCols=10 ) { // Generate the mask from the image - vector> mask = generateMask(inputImg, outputWidth, outputHeight, sizeThreshold,ignoreSide); + vector> mask = generateMask(inputImg, outputWidth, outputHeight, sizeThreshold, skipLeftCols,skipRightCols); // Apply rowRange delay return applyRowRangeDelay(mask, tail, rowRange); @@ -1292,6 +1299,23 @@ pair>, vector>> generateMaskWithTail( +void PadColumns(std::vector>& data, int pad_left, int pad_right, uint8_t fill_value = 0) +{ + // 如果不需要填充，直接返回 + if (pad_left <= 0 && pad_right <= 0) { + return; + } + + for (auto& row : data) { + // 在左侧插入pad_left个fill_value + row.insert(row.begin(), pad_left, fill_value); + // 在右侧插入pad_right个fill_value + row.insert(row.end(), pad_right, fill_value); + } +} + + + //onnx_Mask diff --git a/camera.h b/camera.h index 1d9f5d2..35e1556 100644 --- a/camera.h +++ b/camera.h @@ -26,6 +26,8 @@ std::vector> generateMaskFromImage(const MIL_ID& inputImage, int widthBlocks, int heightBlocks, int thresholds); std::vector> generateMaskFromImage2(const cv::Mat& image, int widthBlocks, int heightBlocks, int thresholds); + +void PadColumns(std::vector>& data, int pad_left, int pad_right, uint8_t fill_value ); std::vector> expandArray(const std::vector>& array, int newCols) ; void VectorToImg(const std::vector>& array, const std::string& image_path); @@ -33,13 +35,14 @@ void VectorToImg(const std::vector>& array, const std::stri cv::Mat mil2mat(MIL_ID mil_img); void convert_to_uint8(const MIL_ID& input_img, MIL_ID& output_img); -std::vector> generateMask( +std::vector> generateMask( const MIL_ID& inputImg, int outputWidth, int outputHeight, int sizeThreshold, - int ignoreSide - ); + int skipLeftCols, + int skipRightCols + ) ; using namespace std; using namespace cv; @@ -97,7 +100,8 @@ pair>, vector>> generateMaskWithTail( int outputHeight, int sizeThreshold, int rowRange, - int ignoreSide + int skipLeftCols, + int skipRightCols );