//Not good
public static void ReduceColor(Mat mat, int div = 64)
{
var data = RoadDetector.GetMatData(mat);
for (int i = 0; i < data.Length; i++)
{
data[i] = (byte)(data[i] / div * div);
}
RoadDetector.SetMatData(mat, data);
}
public static RoadStruc FilterRoadByMean(Mat mat)
{
var data = RoadDetector.GetMatData(mat);
const int SPACING = 100;
int xspaceEnd = mat.Cols - SPACING;
int ystart = 400;
int yspacingNoe2 = 2;
bool[,] spacing = new bool[yspacingNoe2, (xspaceEnd / SPACING) + 1];
int aty = 0;
for (var y = ystart; y < ystart + (yspacingNoe2 * SPACING); y += SPACING, aty++)
{
for (var x = 0; x < xspaceEnd; x += SPACING)
{
spacing[aty, x / SPACING] = GetRoadMean(data, mat, x, y, SPACING, SPACING);
}
}
int middle = xspaceEnd / SPACING / 2;
int[] leftX = new int[2];
int[] rightX = new int[2];
for (int y = 0; y < yspacingNoe2; y++)
{
if (spacing[y, middle])
{
int left = middle;
while (left >= 1 && spacing[y, left - 1])
{
left--;
}
leftX[y] = left;
int right = middle;
while (right <= spacing.GetUpperBound(1) - 1 && spacing[y, right + 1])
{
right++;
}
rightX[y] = right;
}
}
RoadDetector.SetMatData(mat, data);
Func <int, int> tran = x => x + (SPACING / 2);
return(new RoadStruc
{
leftStart = new System.Drawing.Point(tran(leftX[0] * 100), tran(ystart)),
leftEnd = new System.Drawing.Point(tran(leftX[1] * 100), tran(ystart + SPACING)),
rightStart = new System.Drawing.Point(tran(rightX[0] * 100), tran(ystart)),
rightEnd = new System.Drawing.Point(tran(rightX[1] * 100), tran(ystart + SPACING)),
});
}
public static void FilterRoadByColor(Mat mat)
{
var data = RoadDetector.GetMatData(mat);
int pos = 0;
//const int TOODARK = 120;
for (var y = 0; y < mat.Rows; y++)
{
for (var x = 0; x < mat.Cols; x++)
{
var b = data[pos];
var g = data[pos + 1];
var r = data[pos + 2];
var gbdiff = g - b;
var grdiff = g - r;
var gbdiffabs = Math.Abs(gbdiff);
var grdiffabs = Math.Abs(grdiff);
if (gbdiff > MAXGDIFF && grdiff > MAXGDIFF)
{
data[pos] = data[pos + 1] = data[pos + 2] = 0;
data[pos + 1] = 255;
}
else if (g > MAXTOP && b > MAXTOP && r > MAXTOP)
{
data[pos] = data[pos + 1] = data[pos + 2] = 255;
}
else
if (gbdiffabs < MAXDIFF && grdiffabs < MAXDIFF)
{
data[pos] = data[pos + 1] = data[pos + 2] = GRAY;
}
pos += mat.ElementSize;
}
}
RoadDetector.SetMatData(mat, data);
}