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add mask function #1

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add mask function #1

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3 changes: 2 additions & 1 deletion core1_panel_detector/include/core1_panel_detector/panel_detector_hsv.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,8 @@ class PanelDetectorHsv {
public:
PanelDetectorHsv(const int, const int, const int,
const int, const int, const int);


cv::Mat mask(const cv::Mat &);
cv::Mat hsv_filter(const cv::Mat &);
std::vector<Bbox> detect(const cv::Mat &);

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13 changes: 12 additions & 1 deletion core1_panel_detector/src/panel_detector_hsv.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,19 @@ cv::Mat PanelDetectorHsv::hsv_filter(const cv::Mat& img) {
return result;
}

cv::Mat PanelDetectorHsv::mask(const cv::Mat& img) {
int mask_height = 250; //$BMWD4@0(B
cv::Mat mask = cv::Mat::ones(img.size(), CV_8UC1) * 255;
cv::Rect mask_roi(0, 0, img.cols, mask_height);
mask(mask_roi) = 0;
cv::Mat result;
img.copyTo(result, mask);
return result;
}

std::vector<Bbox> PanelDetectorHsv::detect(const cv::Mat& img) {
cv::Mat img_filtered = hsv_filter(img);
cv::Mat img_mask = mask(img);
cv::Mat img_filtered = hsv_filter(img_mask);
cv::Mat img_gray;
cv::cvtColor(img_filtered, img_gray, cv::COLOR_BGR2GRAY);
cv::Mat img_thresh;
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