Calc Mask for Highest Layer

The main function of this combination is to remove invalid regions and then separate the depth image and getting the mask of the highest layer. Usually this combination is applied in the case that the depth situation is quite complex and should be separated into layers. The combination is shown as below.

../../../_images/calc_mask_for_highest_layer.png

The introduction of each Step is as follows:

  1. Invalidate Depth Pixels outside 3D ROI Filter the depth image and only remain regions of interest to remove useless data and accelerate the process.

  2. Segment Depth Map Separate the depth image and filter out points of noise.

  3. Get Highest Layer Regions in Depth Map Generate the mask of the closest valid region to the camera.

  4. Merge Mask Images Combine multiple mask images closest to the camera at the same layer into one.