#include <fstream>
|
#include "vp_lane_osd_node.h"
|
#include "../../utils/vp_utils.h"
|
|
namespace vp_nodes {
|
|
vp_lane_osd_node::vp_lane_osd_node(std::string node_name): vp_node(node_name) {
|
this->initialized();
|
}
|
|
vp_lane_osd_node::~vp_lane_osd_node() {
|
deinitialized();
|
}
|
|
std::shared_ptr<vp_objects::vp_meta> vp_lane_osd_node::handle_frame_meta(std::shared_ptr<vp_objects::vp_frame_meta> meta) {
|
// operations on osd_frame
|
if (meta->osd_frame.empty()) {
|
meta->osd_frame = meta->frame.clone();
|
}
|
auto& canvas = meta->osd_frame;
|
|
if (meta->mask.empty()) {
|
return meta;
|
}
|
|
// resize mask to the same size of canvas
|
cv::Mat mask(meta->mask.size[2], meta->mask.size[3], CV_32FC1, meta->mask.data);
|
cv::Mat mask_big;
|
cv::resize(mask, mask_big, canvas.size());
|
cv::threshold(mask_big, mask_big, 0.5, 1, cv::THRESH_BINARY);
|
|
auto kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(11, 11));
|
cv::erode(mask_big, mask_big, kernel);
|
mask_big.convertTo(mask_big, CV_8U, 255);
|
|
// merge mask and canvas
|
for (int y = 0; y < canvas.rows; ++y) {
|
for (int x = 0; x < canvas.cols; ++x) {
|
canvas.at<cv::Vec3b>(y, x)[2] = mask_big.at<uchar>(y, x);
|
|
canvas.at<cv::Vec3b>(y, x)[1] = cv::saturate_cast<uchar>(
|
canvas.at<cv::Vec3b>(y, x)[1] * 0.8 + mask_big.at<uchar>(y, x) * 0.2);
|
|
canvas.at<cv::Vec3b>(y, x)[0] = cv::saturate_cast<uchar>(
|
canvas.at<cv::Vec3b>(y, x)[0] * 0.8 + mask_big.at<uchar>(y, x) * 0.2);
|
}
|
}
|
|
return meta;
|
}
|
}
|
