void computeCentroidBlob(const vpImage<unsigned char> &I,vpDot2 &blob,vpImagePoint &cog,bool &init_done )
{
try
{
if (! init_done)
{
vpImagePoint germ;
vpDisplay::displayCharString(I, vpImagePoint(10,10), "Click in the blob to initialize the tracker", vpColor::red);
if (vpDisplay::getClick(I, germ, false))
{
blob.initTracking(I, germ);
blob.track(I);
cog = blob.getCog();
init_done = true;
}
}
else
{
blob.track(I);
cog = blob.getCog();
}
std::cout << "init done: " << init_done << std::endl;
}
catch(...)
{
init_done = false;
}
}
static int blob_process(uint8_t* frame, int width, int height, int size)
{
init_display(width, height);
if (!initialized || process_changed) {
blob.setGraphics(true);
blob.setGraphicsThickness(2);
initialized = true;
process_changed = false;
}
prepare_display(frame, width, height, size);
//compute blob
if (!init_track) {
blob.initTracking(*grey_img, germ);
init_track = true;
}
else {
blob.track(*grey_img);
}
int bat = jakopter_com_read_int(com_in, 0);
std::ostringstream bat_str;
bat_str << bat;
vpDisplay::displayText(*display_img, (int)display_img->getHeight()-25, 10,
"Battery : " + bat_str.str() + " %%", vpColor::red);
vpDisplay::flush(*display_img);
return 0;
}
