cv::Mat preProcess(const cv::Mat& image)
{
cv::Mat pp_image = segmentByColor(image);
removeNoise(&pp_image);
cv::GaussianBlur(pp_image, pp_image, cv::Size(9, 9), 2);
return pp_image;
}
bool isPalindrome(string s) {
s = removeNoise(s);
for(int i=0; i<s.size()/2; i++){
if (s[i]!= s[s.size()-i-1]){
return false;
}
}
return true;
}
void kpoAnalyzerThread::operator ()()
{
std::cout << "cloud has " << scene_cloud_->size() << " points" << std::endl;
Cloud cleanCloud;
removeNoise(scene_cloud_, cleanCloud);
pcl::copyPointCloud(cleanCloud, *scene_cloud_);
std::cout << "filtered cloud has " << scene_cloud_->size() << " points" << std::endl;
/*
if (scene_cloud_->size() < 25) {
std::cout << "cloud too small" << std::endl;
return;
}
/*
if (scene_cloud_->size() > 40000) {
std::cout << "cloud too large" << std::endl;
return;
}
*/
NormalCloud::Ptr scene_normals_(new NormalCloud());
estimateNormals(scene_cloud_, scene_normals_);
Cloud::Ptr scene_keypoints_(new Cloud());
downSample(scene_cloud_, scene_keypoints_);
DescriptorCloud::Ptr scene_descriptors_(new DescriptorCloud());
computeShotDescriptors(scene_cloud_, scene_keypoints_, scene_normals_, scene_descriptors_);
RFCloud::Ptr scene_refs_(new RFCloud());
estimateReferenceFrames(scene_cloud_, scene_normals_, scene_keypoints_, scene_refs_);
kpoCloudDescription od;
od.cloud = *scene_cloud_;
od.keypoints = *scene_keypoints_;
od.normals = *scene_normals_;
od.descriptors = *scene_descriptors_;
od.reference_frames = *scene_refs_;
od.filename = filename;
od.object_id = object_id;
callback_(od);
}
std::string letterRecognition(cv::Mat image){
std::string letters[27] = { "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K", "L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z", "*" };
cv::Mat imgDivide = image.clone();
imgDivide = removeNoise(image);
imgDivide = resizeImage(imgDivide);
int letterInt = compareHistograms(imgDivide);
//make sure its an M or an N
if (letterInt == 13 && image.cols >= 55){
return "M";
}
else if (letterInt == 12 && image.cols < 55){
return "N";
}
if (letterInt == 1337)
{
return "Error";
}
return letters[letterInt];
}
