void ObjectDetector :: detect(const cv::Mat1f& distance_image,
cv::Mat1b& mask_image,
std::list<cv::Rect>& rects)
{
if (mask_image.size() != distance_image.size())
mask_image = cv::Mat1b(distance_image.size());
for (int r = 0; r < distance_image.rows; ++r)
for (int c = 0; c < distance_image.cols; ++c)
{
if (distance_image(r,c) >= m_min_threshold && distance_image(r,c) <= m_max_threshold)
mask_image(r,c) = 255;
else
mask_image(r,c) = 0;
}
cv::morphologyEx(mask_image, mask_image,
cv::MORPH_OPEN,
getStructuringElement(cv::MORPH_RECT,
cv::Size(3,3)));
cv::morphologyEx(mask_image, mask_image,
cv::MORPH_CLOSE,
getStructuringElement(cv::MORPH_RECT,
cv::Size(3,3)));
std::vector< std::vector<cv::Point> > contours;
cv::Mat1b contour_image = mask_image.clone();
cv::findContours(contour_image, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
for (int i = 0; i < contours.size(); ++i)
{
cv::Rect rect = cv::boundingRect(cv::Mat(contours[i]));
if (rect.area() > 300)
rects.push_back(rect);
}
}
void init(const cv::Mat1b & query,
std::string implementation_name_,
bool crop_img_before_) {
_implementation_name = implementation_name_;
_crop_img_before = crop_img_before_;
_first_img = query.clone();
VoronoiThinner::copy_bounding_box_plusone(query, _first_img, true);
_curr_skel = _first_img.clone();
// printf("first_img:%s\n", image_utils::infosImage(_first_img).c_str());
_curr_iter = 1;
_nframes = 0;
}