vector<LPPACKAGE> cvPic::getPrintPack()
{
string srcImg = ImgName; // 源图片的位置
int num = 0; // 连通图个数
cv::Mat grayImg = cv::imread( srcImg ); // 将图片加载
cv::Mat labelImg;
vector<int> stRun,enRun,rowRun,runLabels;
vector<pair<int,int>> equivalences;
vector<int> imgX,imgY,imgColor;
int imgWidth,imgHeight;
cv::cvtColor( grayImg, labelImg, CV_BGR2GRAY ); // 灰度化图像
cv::threshold( labelImg, labelImg, 150, 255, CV_THRESH_BINARY ); // 二值化图像
packagePictureInfo( labelImg, imgX, imgY, imgColor );
imgWidth = labelImg.cols;
imgHeight = labelImg.rows;
fillRunVectors( labelImg, num, stRun, enRun, rowRun ); // 完成团的标记与等价对列表的生成
firstPass( stRun, enRun, rowRun, num, runLabels, equivalences, 1 ); // 八邻接
replaceSameLabel( runLabels, equivalences );
printf( "连通图数目为:%d\n", num );
return getPackages(imgWidth,imgHeight,imgX,imgY,imgColor);
}
//找最大的团并返回外轮廓
std::vector<MYPOINT> FindBiggestContour(cimg_library::CImg<unsigned char> origin, std::vector<MYPOINT> Points)
{
std::vector<MYPOINT> contour;
cimg_library::CImg<unsigned char> mask;
//compute the binary img
int threshold = otsu(origin, Points, mask, 1);
unsigned char *bi_img = new unsigned char[origin.width()*origin.height()];
for (int i = 0; i < origin.height(); i++){
for (int j = 0; j < origin.width(); j++){
if (origin.atXY(j, i) >= threshold && mask.atXY(j, i) == 255)
bi_img[i*origin.width() + j] = 255;
else
bi_img[i*origin.width() + j] = 0;
}
}
//返回二值图像
cimg_library::CImg<unsigned char> bi(bi_img, origin.width(), origin.height());
//done
//找团
std::vector<int> stRun, enRun, rowRun, masRun;
int NumberofRuns = 0, offset = 1, maxRun = 1;
fillRunVector(bi, NumberofRuns, stRun, enRun, rowRun, masRun);
std::vector<int> runLabels;
std::vector<std::pair<int, int>> equivalences;
firstPass(stRun, enRun, rowRun, NumberofRuns, runLabels, equivalences, offset);
if (!NumberofRuns){
std::cout << "NOTHING FOUND!!!" << std::endl
<<"size of contour is: "<< contour.size() << std::endl;
return contour;
}
replaceSameLabel(runLabels, equivalences);
int maxLabel = *max_element(runLabels.begin(), runLabels.end());
int *MassofRuns = new int[maxLabel + 1];
memset(MassofRuns, 0, (maxLabel + 1)*sizeof(int));
memset(bi_img, 0, (bi.height()*bi.width())*sizeof(unsigned char));
for (int c = 0; c < NumberofRuns; c++){
MassofRuns[runLabels[c]] += masRun[c];
if (MassofRuns[runLabels[c]]>maxRun){
maxRun = MassofRuns[runLabels[c]];
maxLabel = runLabels[c];
}
int i = rowRun[c];
for (int j = stRun[c]; j <= enRun[c]; j++){
bi_img[i*bi.width() + j] = runLabels[c];
}
}
for (int i = 0; i < bi.height(); i++)
for (int j = 0; j < bi.width(); j++) {
if (bi_img[i*bi.width()+j] == maxLabel)
bi_img[i*bi.width() + j] = 255;
else
bi_img[i*bi.width() + j] = 0;
}
return FindContour(bi_img, bi.width(), bi.height());
}
void ObstacleDetection::ObstacleDetecting(const int obstacleMap[120][120], RobPose cRobotPos)
{
int cObstacleMap[120][120];
memcpy(cObstacleMap, obstacleMap, 120*120*sizeof(int));
stRun.clear();
enRun.clear();
rowRun.clear();
runLabels.clear();
equivalences.clear();
numberOfRuns = 0;
offset = 1;
obsNum = 0;
obsPoses.clear();
std::stringstream out;
out<<frames_num;
std::string filename = "ObstacleMap" + out.str() + ".txt";
std::ofstream Obstaclemapfile(filename);
if (Obstaclemapfile.is_open())
{
for(int i = 0; i < 120; i++)
{
for(int j = 0; j < 120; j++)
{
Obstaclemapfile<<cObstacleMap[i][j]<<" ";
}
Obstaclemapfile<<std::endl;
}
}
frames_num++;
fillRunVectors(cObstacleMap, numberOfRuns, stRun, enRun, rowRun);
if(numberOfRuns > 0)
{
firstPass(stRun, enRun, rowRun, numberOfRuns, runLabels, equivalences, offset);
replaceSameLabel(runLabels, equivalences);
FindObstacle(stRun, enRun, rowRun, numberOfRuns, runLabels, obsNum, obsPoses, cRobotPos);
cout<<"Num of Obstalces: "<<obsNum<<endl;
}
}
