bool HedgeDetector::processColor(Image* input, Image* output,
ColorFilter& filter,
BlobDetector::Blob& leftBlob,
BlobDetector::Blob& rightBlob,
BlobDetector::Blob& outBlob)
{
output->copyFrom(input);
output->setPixelFormat(Image::PF_RGB_8);
output->setPixelFormat(Image::PF_LCHUV_8);
filter.filterImage(output);
// Erode and dilate the image (only if necessary)
if (m_erodeIterations > 0) {
IplImage* img = output->asIplImage();
cvErode(img, img, NULL, m_erodeIterations);
}
if (m_dilateIterations > 0) {
IplImage* img = output->asIplImage();
cvDilate(img, img, NULL, m_dilateIterations);
}
OpenCVImage debug(output->getWidth(), output->getHeight(),
Image::PF_BGR_8);
m_blobDetector.processImage(output, &debug);
//Image::showImage(&debug);
BlobDetector::BlobList blobs = m_blobDetector.getBlobs();
BOOST_FOREACH(BlobDetector::Blob blob, blobs)
{
// Sanity check blob
double percent = (double) blob.getSize() /
(blob.getHeight() * blob.getWidth());
if (1.0/blob.getTrueAspectRatio() <= m_maxAspectRatio &&
1.0/blob.getTrueAspectRatio() >= m_minAspectRatio &&
m_minWidth < blob.getWidth() &&
m_minHeight < blob.getHeight() &&
percent > m_minPixelPercentage &&
percent < m_maxPixelPercentage)
{
processSides(output, blob, leftBlob, rightBlob);
outBlob = blob;
return true;
}
}
bool WindowDetector::processColor(Image* input, Image* output,
ColorFilter& filter,
BlobDetector::Blob& outerBlob,
BlobDetector::Blob& innerBlob)
{
tempFrame->copyFrom(input);
tempFrame->setPixelFormat(Image::PF_RGB_8);
tempFrame->setPixelFormat(Image::PF_LCHUV_8);
filter.filterImage(tempFrame, output);
// Erode the image (only if necessary)
IplImage* img = output->asIplImage();
if (m_erodeIterations > 0) {
cvErode(img, img, NULL, m_erodeIterations);
}
// Dilate the image (only if necessary)
if (m_dilateIterations > 0) {
cvDilate(img, img, NULL, m_dilateIterations);
}
m_blobDetector.processImage(output);
BlobDetector::BlobList blobs = m_blobDetector.getBlobs();
BOOST_FOREACH(BlobDetector::Blob blob, blobs)
{
// Sanity check blob
double pixelPercentage = blob.getSize() /
(double) (blob.getHeight() * blob.getWidth());
double aspect = blob.getTrueAspectRatio();
if (aspect <= m_maxAspectRatio &&
aspect >= m_minAspectRatio &&
m_minHeight <= blob.getHeight() &&
m_minWidth <= blob.getWidth() &&
m_minPixelPercentage <= pixelPercentage &&
m_maxPixelPercentage >= pixelPercentage &&
processBackground(tempFrame, filter, blob, innerBlob))
{
int outerCenterX = (blob.getMaxX() - blob.getMinX()) / 2 + blob.getMinX();
int innerCenterX = (innerBlob.getMaxX() - innerBlob.getMinX()) /
2 + innerBlob.getMinX();
int outerCenterY = (blob.getMaxY() - blob.getMinY()) / 2 + blob.getMinY();
int innerCenterY = (innerBlob.getMaxY() - innerBlob.getMinY()) /
2 + innerBlob.getMinY();
int centerXdiff = abs(outerCenterX - innerCenterX);
int centerYdiff = abs(outerCenterY - innerCenterY);
double relHeight = (double) innerBlob.getHeight() / blob.getHeight();
double relWidth = (double) innerBlob.getWidth() / blob.getWidth();
if(centerXdiff < m_centerXDisagreement &&
centerYdiff < m_centerYDisagreement &&
relHeight > m_minRelInnerHeight &&
relWidth > m_minRelInnerWidth) {
outerBlob = blob;
return true;
}
}
}
