import cv2
import os
import numpy as np

folder1 = "seq_06"
folder2 = "seq_06_ar"
folder_out = "kitti_out"
filelist1 = os.listdir(folder1)
filelist2 = os.listdir(folder2)
print(len(filelist1))
print(len(filelist2))

hsv_min = np.array((53, 0, 0), np.uint8)
hsv_max = np.array((83, 255, 255), np.uint8)

for i in range(1, 1102):
    # mono-kitti sequence
    name1 = folder1 + "/" + str(i-1).zfill(6) + ".png"
    # ar_cube
    name2 = folder2 + "/" + str(i) + "_demo.png"
    img1 = cv2.imread(name1)
    img2 = cv2.imread(name2)

    hsv = cv2.cvtColor(img2, cv2.COLOR_BGR2HSV)
    mask = cv2.inRange(hsv, hsv_min, hsv_max)
    antimask = cv2.bitwise_not(mask)

    res1 = cv2.bitwise_and(img1, img1, mask=antimask)
    res2 = cv2.bitwise_and(img2, img2, mask=mask)
    res = cv2.bitwise_or(res1, res2)

    cv2.imwrite(folder_out + "/" + "out_" + str(i) + ".png", res)
    cv2.imshow("out", res)
    key = cv2.waitKey(1)