1.I have an RGB image and also depth values per pixel in a text file 2. I formed depth image and done thresholding 3. Now I want the original color of thee RGB image in the threshold part 4. What I feel is, I need to get the position of the black pixels and then create a full white pixel image and then will map the rgb values in the original image corresponding to the previously determined black pixel position into that white image. I have coded this far:
import cv2 import numpy as np
depth_image = np.loadtxt(fname = "D:/workspace/1.txt", delimiter=',', skiprows=0) print(depth_image.shape) rgb = cv2.imread("D:/workspace/1.jpg") print(rgb.shape) gray = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY) out = np.zeros(depth_image.shape, np.double)
normalized = cv2.normalize(depth_image, out, 1.0, 0.0, cv2.NORM_MINMAX, dtype=cv2.CV_64F)
norm_image = cv2.normalize(depth_image, None, alpha=0, beta=1, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_32F)
print(norm_image)
mask = norm_image < 0.1
sel = np.zeros_like(depth_image) colored = np.zeros_like(rgb) sel[mask] = depth_image[mask] sel_not = 255-sel
print(sel_not)
'''indices = np.where(sel_not == [10]) print (indices) coordinates = zip(indices[0], indices[1]) print (coordinates)'''
cv2.imshow('display',sel_not)
cv2.imshow('thresholded',colored)
cv2.waitKey(0)
Image used is:
