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segmented_image.go
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/
segmented_image.go
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package segmentation
import (
"image"
"image/color"
"github.com/lucasb-eyer/go-colorful"
"go.viam.com/rdk/rimage"
)
// SegmentedImage TODO.
type SegmentedImage struct {
palette []color.Color
dots []int // a value of 0 means no segment, < 0 is transient, > 0 is the segment number
width int
height int
}
func newSegmentedImage(img *rimage.Image) *SegmentedImage {
si := &SegmentedImage{
width: img.Width(),
height: img.Height(),
}
si.dots = make([]int, si.width*si.height)
return si
}
// Height TODO.
func (si *SegmentedImage) Height() int {
return si.height
}
// Width TODO.
func (si *SegmentedImage) Width() int {
return si.width
}
func (si *SegmentedImage) toK(p image.Point) int {
return (p.Y * si.width) + p.X
}
func (si *SegmentedImage) fromK(k int) image.Point {
y := k / si.width
x := k - (y * si.width)
return image.Point{x, y}
}
// GetSegment TODO.
func (si *SegmentedImage) GetSegment(p image.Point) int {
return si.get(p)
}
func (si *SegmentedImage) get(p image.Point) int {
k := si.toK(p)
if k < 0 || k >= len(si.dots) {
return 0
}
return si.dots[k]
}
func (si *SegmentedImage) set(p image.Point, val int) {
k := si.toK(p)
if k < 0 || k >= len(si.dots) {
return
}
si.dots[k] = val
}
// PixelsInSegmemnt TODO.
func (si *SegmentedImage) PixelsInSegmemnt(segment int) int {
num := 0
for _, v := range si.dots {
if v == segment {
num++
}
}
return num
}
// ColorModel TODO.
func (si *SegmentedImage) ColorModel() color.Model {
return color.RGBAModel
}
// Bounds TODO.
func (si *SegmentedImage) Bounds() image.Rectangle {
return image.Rect(0, 0, si.width, si.height)
}
// At TODO.
func (si *SegmentedImage) At(x, y int) color.Color {
v := si.get(image.Point{x, y})
if v <= 0 {
return color.RGBA{0, 0, 0, 0}
}
return si.palette[v-1]
}
func (si *SegmentedImage) createPalette() {
max := 0
for _, v := range si.dots {
if v > max {
max = v
}
}
if max == 0 {
// no segments
return
}
palette := colorful.FastWarmPalette(max)
for _, p := range palette {
si.palette = append(si.palette, p)
}
}
// NumInAnyCluster TODO.
func (si *SegmentedImage) NumInAnyCluster() int {
num := 0
for _, v := range si.dots {
if v > 0 {
num++
}
}
return num
}
func (si *SegmentedImage) clearTransients() {
for k, v := range si.dots {
if v < 0 {
si.dots[k] = 0
}
}
}