//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);
}
public static int[] GetRoadMeanTest()
{
Mat mean = CvInvoke.Imread("roadmean.png");
var data = RoadDetector.GetMatData(mean);
int maxAdjBdiff = 0;
int maxAdjGdiff = 0;
int maxAdjRdiff = 0;
int maxBGdiff = 0;
int maxGRdiff = 0;
int maxBRdiff = 0;
int ROWLEN = mean.Rows * mean.ElementSize;
float totalB = 0;
float totalG = 0;
float totalR = 0;
int maxB = 0;
int maxG = 0;
int maxR = 0;
int[] colorCount = new int[255];
for (int i = 3; i < data.Length - ROWLEN; i += mean.ElementSize)
{
var b = data[i];
var g = data[i + 1];
var r = data[i + 2];
var pi = i - mean.ElementSize;
var pb = data[pi];
var pg = data[pi + 1];
var pr = data[pi + 2];
var bi = i + ROWLEN;
totalB += b;
totalG += g;
totalR += r;
if (b > maxB)
{
maxB = b;
}
if (g > maxG)
{
maxG = g;
}
if (r > maxR)
{
maxR = r;
}
var bgdiff = Math.Abs(b - g);
var grdiff = Math.Abs(r - g);
var brdiff = Math.Abs(b - r);
if (bgdiff > maxBGdiff)
{
maxBGdiff = bgdiff;
}
if (grdiff > maxGRdiff)
{
maxGRdiff = grdiff;
}
if (brdiff > maxBRdiff)
{
maxBRdiff = brdiff;
}
var bpdiff = Math.Abs(b - pb);
if (bpdiff > maxAdjBdiff)
{
maxAdjBdiff = bpdiff;
}
var gpdiff = Math.Abs(g - pg);
if (gpdiff > maxAdjGdiff)
{
maxAdjGdiff = gpdiff;
}
var rpdiff = Math.Abs(r - pr);
if (rpdiff > maxAdjRdiff)
{
maxAdjRdiff = rpdiff;
}
colorCount[(b + g + r) / 3]++;
}
int peakPos = 0;
int peakVal = 0;
long total = 0;
for (var i = 0; i < colorCount.Length; i++)
{
var cur = colorCount[i];
total += cur;
if (cur > peakVal)
{
peakVal = cur;
peakPos = i;
}
}
int peakSpread = colorCount[peakPos];
Console.WriteLine("peak spread at " + peakPos + " is " + peakSpread + " " + (peakSpread * 1.0 / total));
for (var i = 1; i < 20; i++)
{
if (peakPos + i < colorCount.Length)
{
peakSpread += colorCount[peakPos + i];
}
if (peakPos - i >= 0)
{
peakSpread += colorCount[peakPos - i];
}
Console.WriteLine("peak spread at " + i + " is " + peakSpread + " " + (peakSpread * 1.0 / total));
}
return(colorCount);
}
