/**
* The entry point for console version of ShowGraph
*/
static int doAll( int argc, char **argv)
{
QApplication app(argc, argv);
app.setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
Conf conf;
conf.addOption( new Option( OPT_STRING, "f", "file", "input graph description file name"));
conf.addOption( new Option( OPT_STRING, "o", "output", "output image file name"));
conf.readArgs( argc, argv);
Option *fopt = conf.longOption("file");
Option *out_opt = conf.longOption("output");
assertd( isNotNullP( fopt));
assertd( isNotNullP( out_opt));
if ( fopt->isDefined())
{
QString xmlname = fopt->string();
QString outname("image.png");
Renderer r;
if ( out_opt->isDefined())
{
outname = out_opt->string();
}
r.render( xmlname, outname);
} else
{
conf.printOpts(); // Print options to console
}
//return app.exec();
return 0;
}
PlaneVisionMessage Vision::findPlane(IplImage* image, double blobX, double blobY){
if(image == nullptr){
return PlaneVisionMessage();
}
vector<ImageMessage> extras;
pair<CvBlobs,IplImage*> candidatesWithLabel = findCandidates(image,extras);
auto candidates = candidatesWithLabel.first;
Option<CvBlob> bestCandidate = None<CvBlob>();
double bestDistance = DBL_MAX;
for (CvBlobs::const_iterator it=candidates.begin(); it!=candidates.end(); ++it){
auto blob = it->second;
double dx = blob->centroid.x - blobX;
double dy = blob->centroid.y - blobY;
if (dx * dx + dy * dy < bestDistance){
bestDistance = dx * dx + dy * dy;
bestCandidate = Some<CvBlob>(*blob);
}
}
cvReleaseBlobs(candidates);
if (bestCandidate.isDefined()) {
return PlaneVisionMessage(*bestCandidate,image,extras,true);
} else {
return PlaneVisionMessage(image,extras);
}
}
template<typename T> T StabConfig::getOpt(const QCommandLineParser &parser, ErrorMessageHelper &die,
const QCommandLineOption &opt, const Option<T> &min, const Option<T> &max, T def,
QString parseErrMsg, QString outOfRangeErrMsg) {
bool ok = false;
T i;
if (parser.isSet(opt)) {
if (is_same<int, T>::value)
i = parser.value(opt).toInt(&ok);
if (is_same<float, T>::value)
i = parser.value(opt).toFloat(&ok);
if (is_same<double, T>::value)
i = parser.value(opt).toDouble(&ok);
if (!ok) die << parseErrMsg;
if ((min.isDefined() && i < *min) || (max.isDefined() && i > *max))
die << outOfRangeErrMsg;
return i;
}
return def;
}
PlaneVisionMessage Vision::findPlane( IplImage* image,
list<PlaneVisionMessage> previousPlanes){
if(image == nullptr){
return PlaneVisionMessage();
}
if (blobXOption.isDefined() && blobYOption.isDefined()){
PlaneVisionMessage result = findPlane(image,*blobXOption,*blobYOption);
blobXOption = None<double>();
blobYOption = None<double>();
return result;
}
vector<ImageMessage> extras;
pair<CvBlobs,IplImage*> candidatesWithLabel = findCandidates(image,extras);
auto candidates = candidatesWithLabel.first;
auto label = candidatesWithLabel.second;
int minBlobPX = minBlobSize * (double)image->height;
int maxBlobPX = maxBlobSize * (double)image->height;
double maxScore = -DBL_MAX;
Option<CvBlob> bestCandidate = None<CvBlob>();
DEBUG("PROFILE: Scoring begins for " + boost::lexical_cast<string>(candidates.size())
+ " candidates, " + boost::lexical_cast<string>(previousPlanes.size()) +
" previous planes." );
if ( previousPlanes.size() >= 1){
auto lastBlob = previousPlanes.front().planeBlob;
for (CvBlobs::const_iterator it=candidates.begin(); it!=candidates.end(); ++it){
auto blob = it->second;
auto displacementVector = getDisplacement(blob,&lastBlob);
double dPosition = sqrt(pow(displacementVector[0],2)+ pow(displacementVector[1],2));
double blobHeight = blob->maxy - blob->miny;
double blobWidth = blob->maxx - blob->minx;
if ( blobHeight > maxBlobPX || blobHeight < minBlobPX ){
DEBUG("Filtered blob by height: Exceeds " + boost::lexical_cast<string>(maxBlobPX));
continue;
}
if ( blobWidth > maxBlobPX || blobWidth < minBlobPX ){
DEBUG("Filtered blob by width");
continue;
}
if ( dPosition > image->width * image->height / (25.0 * positionThresh)){
DEBUG("Filtered blob by position");
continue;
}
if ( sizeThresh != 0){
if ( (double)blob->area / (double)lastBlob.area < (0.1 * sizeThresh) ||
(double)blob->area / (double)lastBlob.area > (10.0 / sizeThresh)) {
DEBUG("Filtered blob by size");
continue;
}
}
if (useColor && hasColor){
CvScalar color = cvBlobMeanColor(blob,label,image);
double h,s,v;
Vision::rgbToHsv(color.val[0],color.val[1],color.val[2],h,s,v);
double dColor = fabs(h - goodH);
if (dColor > 360.0 * (1.0 - colorThresh)) {
DEBUG("Filtered blob by color: " + boost::lexical_cast<string>(dColor));
continue;
}
} else if (!useColor) {
cvReleaseImage(&label);
}
double score = -dPosition;
if ( score > maxScore ){
maxScore = score;
bestCandidate = Some<CvBlob>(*blob);
}
}
}
cvReleaseBlobs(candidates);
if (bestCandidate.isDefined()) {
if (!hasColor && useColor){
auto candidate = bestCandidate.get();
CvScalar color = cvBlobMeanColor(&candidate,label,image);
rgbToHsv(color.val[2],color.val[1],color.val[0],goodH,goodS,goodV);
Log::log("Color found");
Log::log("GoodH: " + boost::lexical_cast<string>(goodH));
Log::log("GoodS: " + boost::lexical_cast<string>(goodS));
Log::log("GoodV: " + boost::lexical_cast<string>(goodV));
hasColor = true;
}
cvReleaseImage(&label);
return PlaneVisionMessage(*bestCandidate,image,extras);
} else {
return PlaneVisionMessage(image,extras);
}
}
