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Include flag to save preprocessed images

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This commit is contained in:
Davide Sapienza
2019-09-03 19:03:55 +02:00
parent 2d62d2524c
commit 88e0f9393a
2 changed files with 77 additions and 75 deletions
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include/BoxDetection.h
+7 -1
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@@ -22,6 +22,12 @@
#include <opencv2/saliency.hpp>
#include <opencv2/highgui.hpp>
#define SAVE false
#define SAVE_TO(name, fn, i, var) {sprintf(buf_frame_crop_name,name,fn,i);\
cv::imwrite(buf_frame_crop_name, var);}
// cv::Mat img_threshold(cv::Mat frame_crop);
// cv::Mat img_background(cv::Mat frame_crop);
// cv::Mat img_dist_transform(cv::Mat frame_crop);
@@ -35,4 +41,4 @@ void segmentation(cv::Mat pre_frame, cv::Mat frame_crop, int frame_nbr, int i, i
//canny
cv::Mat img_laplacian(cv::Mat frame_crop, int ret);
void frame_disparity(cv::Mat pre_frame, cv::Mat frame, int frame_nbr, int i, int ret);
cv::Mat frame_disparity(cv::Mat pre_frame, cv::Mat frame, int frame_nbr, int i, int ret);
src/BoxDetection.cpp
+70 -74
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@@ -1,6 +1,6 @@
#include "BoxDetection.h"
#include <string.h>
char buf_frame_crop_name [200];
cv::Mat img_threshold(cv::Mat frame_crop)
{
@@ -258,67 +258,73 @@ void image_segmentation(cv::Mat frame_crop, int frame_nbr, int i)
{
// Watershed Algorithm
// https://docs.opencv.org/3.4/d7/d1c/tutorial_js_watershed.html
char buf_frame_crop_name [200];
auto step_t_segmentation = std::chrono::steady_clock::now();
auto end_t_segmentation = std::chrono::steady_clock::now();
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgthr.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_threshold(frame_crop));
cv::Mat ret;
// ret = img_threshold(frame_crop);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgthr.jpg", frame_nbr, i, img_threshold(frame_crop));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME imgthr ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgback.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_background(frame_crop));
// ret =img_background(frame_crop);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgback.jpg", frame_nbr, i, img_background(frame_crop));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME imgback ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgtrans.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_dist_transform(frame_crop));
// ret = img_dist_transform(frame_crop);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgtrans.jpg", frame_nbr, i, img_dist_transform(frame_crop));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME imgtrans ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
// sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgwatershed.jpg",frame_nbr, i);
// cv::imwrite(buf_frame_crop_name, img_watershed(frame_crop));
// // ret = img_watershed(frame_crop);
// if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgwatershed.jpg", frame_nbr, i, img_watershed(frame_crop));
}
void image_gradients(cv::Mat frame_crop, int frame_nbr, int i)
{
// Image Gradients
// https://docs.opencv.org/trunk/da/d85/tutorial_js_gradients.html
char buf_frame_crop_name [200];
auto step_t_segmentation = std::chrono::steady_clock::now();
auto end_t_segmentation = std::chrono::steady_clock::now();
cv::Mat ret;
// sobel
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgsobel_x_8U.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_sobel_abssobel(frame_crop, 0));
// ret = img_sobel_abssobel(frame_crop, 0);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgsobel_x_8U.jpgg", frame_nbr, i, img_sobel_abssobel(frame_crop, 0));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME sobel0 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
printf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgsobel_y_8U.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_sobel_abssobel(frame_crop, 1));
// ret = img_sobel_abssobel(frame_crop, 1);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgsobel_y_8U.jpg", frame_nbr, i, img_sobel_abssobel(frame_crop, 1));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME sobel1 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgsobel_x_64F.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_sobel_abssobel(frame_crop, 2));
// ret = img_sobel_abssobel(frame_crop, 2);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgsobel_x_64F.jpg", frame_nbr, i, img_sobel_abssobel(frame_crop, 2));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME sobel2 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imgsobel_y_64F.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_sobel_abssobel(frame_crop, 3));
// ret = img_sobel_abssobel(frame_crop, 3);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imgsobel_y_64F.jpg", frame_nbr, i, img_sobel_abssobel(frame_crop, 3));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME sobel3 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
// laplacian
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imglaplacian_gr.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_laplacian(frame_crop, 0));
// ret = img_laplacian(frame_crop, 0);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imglaplacian_gr.jpg", frame_nbr, i, img_laplacian(frame_crop, 0));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME laplacian0 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_imglaplacian_dst.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_laplacian(frame_crop, 1));
// ret = img_laplacian(frame_crop, 1);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_imglaplacian_dst.jpg", frame_nbr, i, img_laplacian(frame_crop, 1));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME laplacian1 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
@@ -331,7 +337,7 @@ void image_find_contours(cv::Mat frame_crop, int frame_nbr, int i)
// Finding contours in your image
// https://docs.opencv.org/3.4/df/d0d/tutorial_find_contours.html
char buf_frame_crop_name [200];
auto step_t_segmentation = std::chrono::steady_clock::now();
auto end_t_segmentation = std::chrono::steady_clock::now();
// plot lines on figure. 3 ways:
@@ -339,11 +345,12 @@ void image_find_contours(cv::Mat frame_crop, int frame_nbr, int i)
// 2 - use laplacian image (one line)
// 3 - use sobel (1st dir) image and sobel (2nd dir) image to plot two different lines
cv::Mat canny_output1, canny_output2, canny_output3a, canny_output3b;
cv::Mat contours;
// src_gray
cv::Mat img1 = img_laplacian(frame_crop, 0);
cv::Canny(img1, canny_output1, 100, 100*2 );
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_canny1.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, canny_output1);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_canny1.jpg", frame_nbr, i, canny_output1);
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME canny1 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
@@ -351,37 +358,39 @@ void image_find_contours(cv::Mat frame_crop, int frame_nbr, int i)
// cv::Mat img2 = img_laplacian(frame_crop, 2);
// cv::Canny(img2, canny_output2, 100, 100*2 );
cv::Canny(img1, canny_output2, 100, 100*2 );
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_canny2.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, canny_output2);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_canny2.jpg", frame_nbr, i, canny_output2);
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME canny2 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
// dstx
cv::Mat img3a = img_sobel_abssobel(frame_crop, 0);
cv::Canny(img3a, canny_output3a, 100, 100*2 );
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_canny3a.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, canny_output3a);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_canny3a.jpg", frame_nbr, i, canny_output3a);
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME canny3a ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
// dsty
cv::Mat img3b = img_sobel_abssobel(frame_crop, 1);
cv::Canny(img3b, canny_output3b, 100, 100*2 );
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_canny3b.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, canny_output3b);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_canny3b.jpg", frame_nbr, i, canny_output3b);
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME canny3b ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
// 1 line
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_line1.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, find_contours(frame_crop, img1, canny_output1, 1));
// contours = find_contours(frame_crop, img1, canny_output1, 1);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_line1.jpg", frame_nbr, i, find_contours(frame_crop, img1, canny_output1, 1));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME line1 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
// 3 line
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_line2.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, find_contours(frame_crop, img1, canny_output2, 3));
// contours = find_contours(frame_crop, img1, canny_output2, 1);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_line2.jpg", frame_nbr, i, find_contours(frame_crop, img1, canny_output2, 1));
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME line2 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
@@ -389,8 +398,8 @@ void image_find_contours(cv::Mat frame_crop, int frame_nbr, int i)
cv::Mat img_line = frame_crop.clone();
img_line = find_contours(img_line, img3a, canny_output3a, 1);
img_line = find_contours(img_line, img3b, canny_output3b, 1);
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_line3.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, img_line);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_line3.jpg", frame_nbr, i, img_line);
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME line3 ("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
@@ -414,7 +423,7 @@ void image_saliency(cv::Mat frame_crop, int frame_nbr, int i)
{
// https://github.com/opencv/opencv_contrib/blob/master/modules/saliency/samples/computeSaliency.cpp
cv::Ptr<cv::saliency::Saliency> saliencyAlgorithm;
char buf_frame_crop_name [200];
int const_molt_mat = 0;
auto step_t_segmentation = std::chrono::steady_clock::now();
auto end_t_segmentation = std::chrono::steady_clock::now();
@@ -425,9 +434,7 @@ void image_saliency(cv::Mat frame_crop, int frame_nbr, int i)
cv::Mat spect_res = compute_saliency(frame_crop, saliencyAlgorithm, const_molt_mat, 0);
if(!spect_res.empty())
{
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_saliency_SpectralResidual.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, spect_res);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_saliency_SpectralResidual.jpg", frame_nbr, i, spect_res);
}
else
{
@@ -442,9 +449,7 @@ void image_saliency(cv::Mat frame_crop, int frame_nbr, int i)
spect_res = compute_saliency(frame_crop, saliencyAlgorithm, const_molt_mat, 1);
if(!spect_res.empty())
{
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_saliency_BinarySpectralResidual.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, spect_res);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_saliency_BinarySpectralResidual.jpg", frame_nbr, i, spect_res);
}
else
{
@@ -460,9 +465,7 @@ void image_saliency(cv::Mat frame_crop, int frame_nbr, int i)
spect_res = compute_saliency(frame_crop, saliencyAlgorithm, const_molt_mat, 0);
if(!spect_res.empty())
{
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_saliency_FineGrained.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, spect_res);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_saliency_FineGrained.jpg", frame_nbr, i, spect_res);
}
else
{
@@ -506,17 +509,16 @@ void image_saliency(cv::Mat frame_crop, int frame_nbr, int i)
saliencyAlgorithm.dynamicCast<cv::saliency::MotionSaliencyBinWangApr2014>()->init();
cvtColor( frame_sal, frame_sal, cv::COLOR_BGR2GRAY );
saliencyAlgorithm->computeSaliency( frame_sal, saliencyMap);
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d_saliency_BinWangApr.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, saliencyMap);
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d_saliency_BinWangApr.jpg", frame_nbr, i, saliencyMap);
end_t_segmentation = std::chrono::steady_clock::now();
std::cout << " - TIME BING WANG APR 2014("<<frame_nbr<<"-"<<i<<") : "<<std::chrono::duration_cast<std::chrono::milliseconds>(end_t_segmentation - step_t_segmentation).count() << " ms"<<std::endl;
step_t_segmentation = end_t_segmentation;
}
void frame_disparity(cv::Mat pre_frame, cv::Mat frame, int frame_nbr, int i, int ret=0)
cv::Mat frame_disparity(cv::Mat pre_frame, cv::Mat frame, int frame_nbr, int i, int ret=0)
{
// https://stackoverflow.com/questions/27035672/cv-extract-differences-between-two-images
char buf_frame_crop_name [200];
cv::Mat backgroundImage = pre_frame.clone();
cv::Mat currentImage = frame.clone();
cv::Mat diffImage;
@@ -530,10 +532,8 @@ void frame_disparity(cv::Mat pre_frame, cv::Mat frame, int frame_nbr, int i, int
cv::Mat foregroundMask = cv::Mat::zeros(diffImage.rows, diffImage.cols, CV_8UC1);
// std::cout<<"diffImage: "<<diffImage.cols<<" - "<<diffImage.rows<<std::endl;
// sprintf(buf_frame_crop_name,"../demo/demo/data/img_disparity/%d_%d_pc1.jpg",frame_nbr,i);
// cv::imwrite(buf_frame_crop_name, backgroundImage);
// sprintf(buf_frame_crop_name,"../demo/demo/data/img_disparity/%d_%d_c1.jpg",frame_nbr,i);
// cv::imwrite(buf_frame_crop_name, currentImage);
// if(SAVE) SAVE_TO("../demo/demo/data/img_disparity/%d_%d_pc1.jpg", frame_nbr, i, backgroundImage);
// if(SAVE) SAVE_TO("../demo/demo/data/img_disparity/%d_%d_c1.jpg", frame_nbr, i, currentImage);
float threshold = 30.0f;
float dist;
@@ -552,9 +552,9 @@ void frame_disparity(cv::Mat pre_frame, cv::Mat frame, int frame_nbr, int i, int
}
}
}
sprintf(buf_frame_crop_name,"../demo/demo/data/img_disparity/%d_%d_dif.jpg",frame_nbr,i);
cv::imwrite(buf_frame_crop_name, foregroundMask);
std::cout<<"foregroundMask: "<<foregroundMask.cols<<" - "<<foregroundMask.rows<<std::endl;
if(SAVE) SAVE_TO("../demo/demo/data/img_disparity/%d_%d_dif.jpg", frame_nbr, i, foregroundMask);
return foregroundMask;
}
void frame_box_disparity(cv::Mat pre_frame, cv::Mat frame, std::vector <cv::Rect> pre_rois, int frame_nbr)
@@ -562,7 +562,6 @@ void frame_box_disparity(cv::Mat pre_frame, cv::Mat frame, std::vector <cv::Rect
int roi_tollerance = 10;
cv::Mat pre_frame_crop, frame_crop;
char buf_frame_crop_name [200];
int dx, dy;
int id = 1;
auto step_t_segmentation = std::chrono::steady_clock::now();
@@ -570,8 +569,8 @@ void frame_box_disparity(cv::Mat pre_frame, cv::Mat frame, std::vector <cv::Rect
for(auto r : pre_rois)
{
sprintf(buf_frame_crop_name,"../demo/demo/data/img_disparity/%d_%d_orig.jpg",frame_nbr, id);
cv::imwrite(buf_frame_crop_name, pre_frame(r));
if(SAVE) SAVE_TO("../demo/demo/data/img_disparity/%d_%d_orig.jpg", frame_nbr, id, pre_frame(r));
//resize last roi with a tollerance
dx = r.width / roi_tollerance;
dy = r.height / roi_tollerance;
@@ -582,17 +581,15 @@ void frame_box_disparity(cv::Mat pre_frame, cv::Mat frame, std::vector <cv::Rect
r.height = ((r.y+r.height+dy+dy) >= frame.rows)? (frame.rows-1-r.y) : (r.height+dy+dy);
// std::cout<<"disp: w "<<r.width<<" - h "<<r.height<<std::endl;
// std::cout<<"disp: wf "<<frame.cols<<" - hf "<<frame.rows<<std::endl;
std::cout<<"---"<<std::endl;
std::cout<<"disp: x "<<r.x<<" to "<<r.width+r.x<<" wf "<<frame.cols<<std::endl;
std::cout<<"disp: y "<<r.y<<" to "<<r.height+r.y<<" hf "<<frame.rows<<std::endl;
// std::cout<<"---"<<std::endl;
// std::cout<<"disp: x "<<r.x<<" to "<<r.width+r.x<<" wf "<<frame.cols<<std::endl;
// std::cout<<"disp: y "<<r.y<<" to "<<r.height+r.y<<" hf "<<frame.rows<<std::endl;
//crop pre_frame and current frame
pre_frame_crop = pre_frame(r);
frame_crop = frame(r);
sprintf(buf_frame_crop_name,"../demo/demo/data/img_disparity/%d_%d_cur.jpg",frame_nbr, id);
cv::imwrite(buf_frame_crop_name, frame_crop);
sprintf(buf_frame_crop_name,"../demo/demo/data/img_disparity/%d_%d_pre.jpg",frame_nbr, id);
cv::imwrite(buf_frame_crop_name, pre_frame_crop);
if(SAVE) SAVE_TO("../demo/demo/data/img_disparity/%d_%d_cur.jpg", frame_nbr, id, frame_crop);
if(SAVE) SAVE_TO("../demo/demo/data/img_disparity/%d_%d_pre.jpg", frame_nbr, id, pre_frame_crop);
// difference from two consecutive frame
step_t_segmentation = std::chrono::steady_clock::now();
@@ -609,15 +606,14 @@ void segmentation(cv::Mat pre_frame, cv::Mat frame_crop, int frame_nbr, int i, i
//mode=0 (for whole frame), it computes the frame disparity
//mode=1 (for single box), it doesn't compute the frame disparity (it has already been done-see frame_box_disparity())
// whole figure
char buf_frame_crop_name [200];
char buf_str [15];
if(!mode)
sprintf(buf_str,"whole frame");
else
sprintf(buf_str,"a box frame");
if(SAVE) SAVE_TO("../demo/demo/data/img_crop/%d_%d.jpg", frame_nbr, i, frame_crop);
sprintf(buf_frame_crop_name,"../demo/demo/data/img_crop/%d_%d.jpg",frame_nbr, i);
cv::imwrite(buf_frame_crop_name, frame_crop);
auto step_t_segmentation = std::chrono::steady_clock::now();
auto end_t_segmentation = std::chrono::steady_clock::now();