// returns the mask and frame of contact.
int
YARPFlowTracker::GetObjectProperties (YARPImageOf<YarpPixelMono>& mask, YARPImageOf<YarpPixelBGR>& frame)
{
// contact_frame
mask.CastCopy (segmentation_mask_copy);
frame.CastCopy (seq->GetImageRef(contact_frame));
return 0;
}
void Filter(YARPImageOf<YarpPixelBGR>& src,
YARPImageOf<YarpPixelBGR>& dest)
{
FiveBoxesInARow& boxes = out_data.Content();
YARPImageOf<YarpPixelMono> mono;
mono.CastCopy(src);
dest.PeerCopy(src);
trackers.Update(mono,dest,boxes);
out_data.Write();
/*
static ImgTrackTool track;
dest.PeerCopy(src);
track.Apply(dest);
*/
}
int YARPImageFile::Write(const char *dest, YARPGenericImage& src, int format)
{
if (format!=YARPImageFile::FORMAT_NUMERIC)
{
return ImageWrite(src,dest);
}
YARPImageOf<YarpPixelFloat> flt;
ofstream fout(dest);
flt.CastCopy(src);
for (int i=0; i<flt.GetHeight(); i++)
{
for (int j=0; j<flt.GetWidth(); j++)
{
char buf[255];
sprintf(buf,"%g ", flt(j,i));
fout << buf << " ";
}
fout << endl;
}
return 0;
//return ImageWrite(src,dest);
//return 0;
}
