/
mask_parts_of_usv.m
50 lines (45 loc) · 2.57 KB
/
mask_parts_of_usv.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
function msk = mask_parts_of_usv(msk, paths, seq, eval_params)
%% Read masks of USV parts
% Read mask that filters out the areas of the USV visible in the image
if(seq.id >= 1 && seq.id <= 9)
boat_parts_mask = imread(fullfile(paths.USV_parts_masks, 'plovba_1_L.png'));
black_areas = imread(fullfile(paths.dataset_path, 'masks_rectification_black_area', 'plovba01.png'));
elseif(seq.id >= 10 && seq.id <= 14)
boat_parts_mask = imread(fullfile(paths.USV_parts_masks, 'plovba_2_L.png'));
black_areas = imread(fullfile(paths.dataset_path, 'masks_rectification_black_area', 'plovba02.png'));
elseif(seq.id >= 15 && seq.id <= 18)
boat_parts_mask = imread(fullfile(paths.USV_parts_masks, 'plovba_3_L.png'));
black_areas = imread(fullfile(paths.dataset_path, 'masks_rectification_black_area', 'plovba03.png'));
elseif(seq.id >= 19 && seq.id <= 26)
boat_parts_mask = imread(fullfile(paths.USV_parts_masks, 'plovba_4_L.png'));
black_areas = imread(fullfile(paths.dataset_path, 'masks_rectification_black_area', 'plovba04.png'));
elseif(seq.id >= 27 && seq.id <= 28)
boat_parts_mask = imread(fullfile(paths.USV_parts_masks, 'plovba_5_L.png'));
black_areas = imread(fullfile(paths.dataset_path, 'masks_rectification_black_area', 'plovba05.png'));
end
black_areas = imresize(black_areas, [384, 512], 'method', 'nearest');
se = strel('disk', 10);
black_areas = imbinarize(imdilate(uint8(black_areas), se));
% Override possible detections that are a couse of usv parts
[msk_size_y, msk_size_x, ~] = size(msk);
boat_parts_mask_resized = imresize(boat_parts_mask, [msk_size_y, msk_size_x], 'method', 'nearest');
for rgb_counter = 1 : 3 % loop through color channels
% extract current color channel
tmp = msk(:, :, rgb_counter);
% change with the corresponding value of the water component
tmp(boat_parts_mask_resized == 1) = eval_params.labels(3, rgb_counter);
% update the segmentation mask
msk(:, :, rgb_counter) = tmp;
end
if(eval_params.rectified == 1 && seq.is_rectified == 0)
msk = imresize(cv.remap(imresize(msk, eval_params.img_size, 'Method', 'nearest'), map_L1, map_L2), [msk_size_y, msk_size_x], 'Method', 'nearest');
end
if(eval_params.rectified == 1)
% remove black areas
for rgb_counter = 1 : 3
tmp = msk(:, :, rgb_counter); % extract color
tmp(black_areas == 1) = eval_params.labels(3, rgb_counter);
msk(:, :, rgb_counter) = tmp;
end
end
end