void RealSenseDetector::run() {
while (!stopped){
ImageGrayscale img;
{
Poco::Mutex::ScopedLock lock(imMutex);
if (imageVector.size()) {
img = imageVector.back();
imageVector.clear();
}
}
if (img.data == 0) {
wakeEvent.wait();
continue;
}
std::vector<cv::Rect> _rects = detectImpl(img);
{
Poco::Mutex::ScopedLock lock(rectMutex);
this->rects = _rects;
}
}
}
/* requires line detection (only one image) */
void LSDDetector::detect( const Mat& image, CV_OUT std::vector<KeyLine>& keylines, int scale, int numOctaves, const Mat& mask )
{
if( mask.data != NULL && ( mask.size() != image.size() || mask.type() != CV_8UC1 ) )
CV_Error( Error::StsBadArg, "Mask error while detecting lines: please check its dimensions and that data type is CV_8UC1" );
else
detectImpl( image, keylines, numOctaves, scale, mask );
}
void FeatureDetector::detect( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
{
keypoints.clear();
if( image.empty() )
return;
CV_Assert( mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()) );
detectImpl( image, keypoints, mask );
}
/* requires line detection (more than one image) */
void LSDDetector::detect( const std::vector<Mat>& images, std::vector<std::vector<KeyLine> >& keylines, int scale, int numOctaves,
const std::vector<Mat>& masks ) const
{
/* detect lines from each image */
for ( size_t counter = 0; counter < images.size(); counter++ )
{
if( masks[counter].data != NULL && ( masks[counter].size() != images[counter].size() || masks[counter].type() != CV_8UC1 ) )
CV_Error( Error::StsBadArg, "Masks error while detecting lines: please check their dimensions and that data types are CV_8UC1" );
else
detectImpl( images[counter], keylines[counter], numOctaves, scale, masks[counter] );
}
}
