first commit

nodes/osd/vp_lane_osd_node.cpp

@@ -0,0 +1,51 @@
+#include <fstream>
+#include "vp_lane_osd_node.h"
+#include "../../utils/vp_utils.h"
+
+namespace vp_nodes {
+        
+    vp_lane_osd_node::vp_lane_osd_node(std::string node_name): vp_node(node_name) {
+        this->initialized();
+    }
+    
+    vp_lane_osd_node::~vp_lane_osd_node() {
+        deinitialized();
+    }
+
+    std::shared_ptr<vp_objects::vp_meta> vp_lane_osd_node::handle_frame_meta(std::shared_ptr<vp_objects::vp_frame_meta> meta) {
+        // operations on osd_frame
+        if (meta->osd_frame.empty()) {
+            meta->osd_frame = meta->frame.clone();
+        }
+        auto& canvas = meta->osd_frame;
+
+        if (meta->mask.empty()) {
+            return meta;
+        }
+        
+        // resize mask to the same size of canvas
+        cv::Mat mask(meta->mask.size[2], meta->mask.size[3], CV_32FC1, meta->mask.data);
+        cv::Mat mask_big;
+        cv::resize(mask, mask_big, canvas.size());
+        cv::threshold(mask_big, mask_big, 0.5, 1, cv::THRESH_BINARY);
+
+        auto kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(11, 11));
+        cv::erode(mask_big, mask_big, kernel);
+        mask_big.convertTo(mask_big, CV_8U, 255);
+
+        // merge mask and canvas
+        for (int y = 0; y < canvas.rows; ++y) {
+            for (int x = 0; x < canvas.cols; ++x) {
+                canvas.at<cv::Vec3b>(y, x)[2] = mask_big.at<uchar>(y, x);
+
+                canvas.at<cv::Vec3b>(y, x)[1] = cv::saturate_cast<uchar>(
+                    canvas.at<cv::Vec3b>(y, x)[1] * 0.8 + mask_big.at<uchar>(y, x) * 0.2);
+
+                canvas.at<cv::Vec3b>(y, x)[0] = cv::saturate_cast<uchar>(
+                    canvas.at<cv::Vec3b>(y, x)[0] * 0.8 + mask_big.at<uchar>(y, x) * 0.2);
+            }
+        }
+
+        return meta;
+    }
+}