Method _preProcessRange

sloam/src/segmentation/inference.cpp:302–316

}

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

  pImg = img.clone();

  // Normalize
  double minVal = 0;
  double maxVal = 0;
  cv::minMaxIdx(channels[1], &minVal, &maxVal);
  float rangeMultiplier = 1.0 / 100.0;
  float intensityMultipler = 1.0 / (float)maxVal;
  cv::multiply(pImg, cv::Scalar(rangeMultiplier, intensityMultipler),
               pImg);
}

void Segmentation::_argmax(const float *in, cv::Mat& maskImg){
  std::vector<unsigned char> max;