pad columns feature added

camera.cpp

@@ -46,11 +46,15 @@ ONNXRunner runner;
 
 
 std::map<std::string, int> 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<std::vector<uint8_t>> tail_0(0);
 static std::vector<std::vector<uint8_t>> 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<std::vector<uint8_t>> mask_Color1 = generateMaskFromImage(detection_result1, widthBlocks, heightBlocks, thresholds);
 
+    PadColumns(mask_1,padLeft,padRight,0);
     std::vector<std::vector<uint8_t>> 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<vector<uint8_t>> mask = generateMask(detection_result0, widthBlocks, heightBlocks, sizeThreshold,ignoreSide);
+    vector<vector<uint8_t>> 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<std::vector<uint8_t> > &array, const std::str
     imwrite(image_path, image);
 }
 
-
 vector<vector<uint8_t>> 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<vector<uint8_t>> 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<vector<uint8_t>> mask(outputHeight, vector<uint8_t>(outputWidth, 0));
 
     for (int i = 0; i < outputHeight; ++i) {
         for (int j = 0; j < outputWidth; ++j) {
-            if((j<=ignoreSide) ||((outputHeight-j)<= ignoreSide) )
+            int x_start = skipLeftCols + j * blockWidth;
-            {
-                mask[i][j] = 0;
-                continue;
-            }
-            int x_start = 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<vector<uint8_t>> generateMask(
     return mask;
 }
 
+
 pair<vector<vector<uint8_t>>, vector<vector<uint8_t>>> applyRowRangeDelay(
     const vector<vector<uint8_t>>& mask,
     const vector<vector<uint8_t>>& tail,
@@ -1280,11 +1286,12 @@ pair<vector<vector<uint8_t>>, vector<vector<uint8_t>>> generateMaskWithTail(
     int outputWidth,
     int outputHeight,
     int sizeThreshold = 10,
-    int rowRange = 50,
+    int rowRange=1,
-    int ignoreSide=2
+    int skipLeftCols=10,
+    int skipRightCols=10
     ) {
     // Generate the mask from the image
-    vector<vector<uint8_t>> mask = generateMask(inputImg, outputWidth, outputHeight, sizeThreshold,ignoreSide);
+    vector<vector<uint8_t>> mask = generateMask(inputImg, outputWidth, outputHeight, sizeThreshold, skipLeftCols,skipRightCols);
 
     // Apply rowRange delay
     return applyRowRangeDelay(mask, tail, rowRange);
@@ -1292,6 +1299,23 @@ pair<vector<vector<uint8_t>>, vector<vector<uint8_t>>> generateMaskWithTail(
 
 
 
+void PadColumns(std::vector<std::vector<uint8_t>>& 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

camera.h

@@ -26,6 +26,8 @@
 std::vector<std::vector<uint8_t>> generateMaskFromImage(const MIL_ID& inputImage, int widthBlocks, int heightBlocks, int thresholds);
 std::vector<std::vector<uint8_t>> generateMaskFromImage2(const cv::Mat& image, int widthBlocks, int heightBlocks, int thresholds);
 
+
+void PadColumns(std::vector<std::vector<uint8_t>>& data, int pad_left, int pad_right, uint8_t fill_value );
 std::vector<std::vector<uint8_t>> expandArray(const std::vector<std::vector<uint8_t>>& array, int newCols) ;
 
 void VectorToImg(const std::vector<std::vector<uint8_t>>& array, const std::string& image_path);
@@ -33,13 +35,14 @@ void VectorToImg(const std::vector<std::vector<uint8_t>>& 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<std::vector<uint8_t>>  generateMask(
+std::vector<std::vector<uint8_t>> 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<vector<uint8_t>>, vector<vector<uint8_t>>> generateMaskWithTail(
     int outputHeight,
     int sizeThreshold,
     int rowRange,
-    int ignoreSide
+    int skipLeftCols,
+    int skipRightCols
     );