This example demonstrates how to enchance existing 2D algorithms with 3D data: GrabCut algorithm is commonly used for interactive, user-assisted foreground extraction. In this demo we replace user input with initial guess based on depth data.
How is it different from rs-align example? rs-align is doing real-time background removal using simple masking and thresholding. This results in fast but not very clean results. This demo is performing pixel-level optimization to cut the foreground in the 2D image. The depth data serves only as an initial estimate of what is near and what is far.
We start by getting a pair of spatially and temporally synchronized frames:
frameset data = pipe.wait_for_frames();
// Make sure the frameset is spatialy aligned
// (each pixel in depth image corresponds to the same pixel in the color image)
frameset aligned_set = align_to.process(data);
frame depth = aligned_set.get_depth_frame();
auto color_mat = frame_to_mat(aligned_set.get_color_frame());
Left: Color frame, Right: Raw depth frame aligned to Color
We continue to generate pixel regions that would estimate near and far objects. We use basic morphological transformations to improve the quality of the two masks:
// Generate "near" mask image:
auto near = frame_to_mat(bw_depth);
cvtColor(near, near, CV_BGR2GRAY);
// Take just values within range [180-255]
// These will roughly correspond to near objects due to histogram equalization
create_mask_from_depth(near, 180, THRESH_BINARY);
// Generate "far" mask image:
auto far = frame_to_mat(bw_depth);
cvtColor(far, far, CV_BGR2GRAY);
// Note: 0 value does not indicate pixel near the camera, and requires special attention:
far.setTo(255, far == 0);
create_mask_from_depth(far, 100, THRESH_BINARY_INV);
Left: Foreground Guess in Green, Right: Background Guess in Red
The two masks are combined into a single guess:
// GrabCut algorithm needs a mask with every pixel marked as either:
// BGD, FGB, PR_BGD, PR_FGB
Mat mask;
mask.create(near.size(), CV_8UC1);
mask.setTo(Scalar::all(GC_BGD)); // Set "background" as default guess
mask.setTo(GC_PR_BGD, far == 0); // Relax this to "probably background" for pixels outside "far" region
mask.setTo(GC_FGD, near == 255); // Set pixels within the "near" region to "foreground"We run the algorithm:
Mat bgModel, fgModel;
cv::grabCut(color_mat, mask, Rect(), bgModel, fgModel, 1, cv::GC_INIT_WITH_MASK);And generate the resulting image:
// Extract foreground pixels based on refined mask from the algorithm
cv::Mat3b foreground = cv::Mat3b::zeros(color_mat.rows, color_mat.cols);
color_mat.copyTo(foreground, (mask == cv::GC_FGD) | (mask == cv::GC_PR_FGD));
cv::imshow(window_name, foreground);