Method _mask

sloam/src/segmentation/inference.cpp:275–300

}

void Segmentation::_mask(const float* output, const std::vector<size_t>& invalid_idxs, cv::Mat& maskImg){
  size_t channel_offset = _img_w * _img_h;
  unsigned char _n_classes = 3;
  std::vector<unsigned char> max;

  for (int pixel_id = 0; pixel_id < channel_offset; pixel_id++){
    int max_idx = pixel_id;
    unsigned char out_idx = 0;
    for (unsigned char i = 1; i < _n_classes; i++) {
      int buffer_idx = channel_offset * i + pixel_id;
      // if(output[max_idx] < output[buffer_idx] && output[buffer_idx] > 0.8){
      if(output[max_idx] < output[buffer_idx]){
            max_idx = buffer_idx;
            out_idx = static_cast<unsigned char>(i);
        }
      }
      if(out_idx == 2) out_idx = 255;
      max.push_back(out_idx);
    }
  
  for(const int idx : invalid_idxs){
    max[idx] = 0;
  }

  memcpy(maskImg.data, max.data(), max.size()*sizeof(unsigned char));
}

void Segmentation::_preProcessRange(const cv::Mat& img, cv::Mat& pImg, float maxDist) {
  std::vector<cv::Mat> channels(2);