depth.py
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00001 #!/usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 
00004 import numpy as np
00005 from skimage.segmentation import slic
00006 from skimage.feature import peak_local_max
00007 from skimage.morphology import binary_closing
00008 
00009 from jsk_recognition_utils.mask import descent_closing
00010 
00011 
00012 def split_fore_background(depth_img, footprint=None):
00013     if footprint is None:
00014         footprint = np.ones((3, 3))
00015     segments = slic(depth_img)
00016 
00017     local_maxi = peak_local_max(
00018         depth_img, labels=segments, footprint=footprint, indices=False)
00019 
00020     fg_mask = descent_closing(local_maxi, init_selem=np.ones((3, 3)), n_times=6)
00021     bg_mask = ~fg_mask
00022     return fg_mask, bg_mask


jsk_recognition_utils
Author(s):
autogenerated on Tue Jul 2 2019 19:40:37