void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
{
FindContours(img, thresh, nLayers, dMinSize / 4);
if (0 == m_seqRects->total)
return;
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
CvTrackingRect* pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
if (m_seqRects->total < 32)
{
MergeRects(dMinSize / 8);
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
}
pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
if ((pR->iEnergy > 100 && m_seqRects->total < 32) || (m_seqRects->total < 16))
{
MergeRects(dMinSize / 4);
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
}
pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
if ((pR->iEnergy > 100 && m_seqRects->total < 16) || (pR->iEnergy > 200 && m_seqRects->total < 32))
{
MergeRects(dMinSize / 2);
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
}
}// void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
IplImage* ContoursProcessor::Process( IplImage *InputFrame )
{
ContoursOptions *lContoursOptions= (ContoursOptions*)WorkingOptions;
MeasurementImageCount++;
if(pimg)
cvReleaseImage(&pimg);
pimg= cvCreateImage(cvGetSize(InputFrame),8, 1 );
img= RgbToBW( InputFrame );
cvThreshold(img, pimg, lContoursOptions->Treshold, 255, CV_THRESH_BINARY /*CV_THRESH_BINARY*/ );
if (Tmp_img)
cvReleaseImage(&Tmp_img);
Tmp_img = cvCloneImage (pimg);
if (cnt_img)
cvReleaseImage(&cnt_img);
cnt_img = cvCloneImage (InputFrame);
FindContours();
cvReleaseMemStorage( &storage );
cvReleaseImage( &img );
return cnt_img;
}
void FaceDetection::FindFace(IplImage *img)
{
// find all contours
FindContours(img);
//
ResetImage();
if (m_bBoosting)
PostBoostingFindCandidats(img);
else
FindCandidats();
}// void FaceDetection::FindFace(IplImage *img)
void UPaperSprite::BuildGeometryFromContours(FSpritePolygonCollection& GeomOwner)
{
// First trim the image to the tight fitting bounding box (the other pixels can't matter)
FVector2D InitialBoxSizeFloat;
FVector2D InitialBoxPosFloat;
FindTextureBoundingBox(GeomOwner.AlphaThreshold, /*out*/ InitialBoxPosFloat, /*out*/ InitialBoxSizeFloat);
const FIntPoint InitialPos((int32)InitialBoxPosFloat.X, (int32)InitialBoxPosFloat.Y);
const FIntPoint InitialSize((int32)InitialBoxSizeFloat.X, (int32)InitialBoxSizeFloat.Y);
// Find the contours
TArray< TArray<FIntPoint> > Contours;
FindContours(InitialPos, InitialSize, GeomOwner.AlphaThreshold, SourceTexture, /*out*/ Contours);
//@TODO: Remove fully enclosed contours - may not be needed if we're tracing only outsides
// Convert the contours into geometry
GeomOwner.Polygons.Empty();
for (int32 ContourIndex = 0; ContourIndex < Contours.Num(); ++ContourIndex)
{
//@TODO: Optimize contours
TArray<FIntPoint>& Contour = Contours[ContourIndex];
SimplifyPoints(Contour, GeomOwner.SimplifyEpsilon);
if (Contour.Num() > 0)
{
FSpritePolygon& Polygon = *new (GeomOwner.Polygons) FSpritePolygon();
Polygon.Vertices.Empty(Contour.Num());
for (int32 PointIndex = 0; PointIndex < Contour.Num(); ++PointIndex)
{
new (Polygon.Vertices) FVector2D(Contour[PointIndex]);
}
}
}
}
void Camera::ShapeDetect()
{
cv::Mat src_gray;
cv::Mat dst ;
/* Convert it to rgb*/
cvtColor( scene, dst, CV_GRAY2RGB );
/* Convert to binary image using Canny*/
cv::Mat bw;
cv::Canny(scene, bw, 0, 200, 5);
std::pair<std::vector<cv::Point> ,std::vector<std::vector<cv::Point> >> CenterAndContours;
CenterAndContours = FindContours(bw.clone(), dst.clone());
ROS_INFO("DENTRO ShapeDetect");
if(CenterAndContours.second.size() > 0)
{
std::pair<int,bool> info_geometry;
cv::Point point_b;
point_b.x = pos_object.x;
point_b.y = pos_object.y;
info_geometry = FindAMinDistanceButton(CenterAndContours.first,point_b);
if(info_geometry.second == true)
{
ROS_INFO("** Tasto premuto correttamente **");
BottonCHosen.Center_.x = floor(CenterAndContours.first[info_geometry.first].x);
BottonCHosen.Center_.y = floor(CenterAndContours.first[info_geometry.first].y);
BottonCHosen.Botton_2frame = BottonCHosen.Center_;
setLabel(dst, "BOTP", CenterAndContours.second[info_geometry.first]);
BottonCHosen.Bot_C = CenterAndContours.second[info_geometry.first];
std::pair<int,int> value = FindMaxValue(dst, BottonCHosen.Center_ );
cv::Mat roi(scene, cv::Rect(BottonCHosen.Center_.x - 30,BottonCHosen.Center_.y - 40,value.first, value.second));
cv::Mat convert_BcMat_ = roi.clone();
convert_BcMat_.convertTo(BottonCHosen.figure_, CV_8U) ;
/* SIFT feature detector and feature extractor */
cv::SiftFeatureDetector detector( 0.01, 3.0 );
cv::SiftDescriptorExtractor extractor( 2.0 );
detector.detect(BottonCHosen.figure_, BottonCHosen.keyp_ );
extractor.compute( BottonCHosen.figure_, BottonCHosen.keyp_, BottonCHosen.descr_ );
// cv::Mat output1;
// cv::drawKeypoints(BottonCHosen.figure_, BottonCHosen.keyp_, output1);
// cv::imshow("dst", output1);
// cv::waitKey(0);
cv::imshow("dst", dst);
cv::waitKey(0);
// cv::imshow("dst", roi);
// cv::waitKey(0);
first_Step = 0;
}
else
{
press_buttom = 0;
ROS_INFO("ripremi nuovamente il pulsante");
}
}
else
{
ROS_INFO("ripremi nuovamente il pulsante");
press_buttom = 0;
}
}
