// Component Labelling(opencv내 함수 connectedComponentsWithStats를 이용하여)
vector<obj_info> connectedComponentsLabelling(Mat frame) {
vector<obj_info> result;
result.clear();
Rect objectRegion(0, 0, 30, 30); // 레이블 저장할 사각형
obj_info *obj_array = (obj_info*)calloc(999, sizeof(obj_info)); // componentArray에 공간 할당
Mat img_labels, stats, centroids;
int numOfLables = connectedComponentsWithStats(frame, img_labels,
stats, centroids, 8, CV_32S); // label 갯수 반환
int index = 0;
for (int i = 1; i < numOfLables; i++) {
// height, width를 미리 지정
int height = stats.at<int>(i, CC_STAT_HEIGHT);
int width = stats.at<int>(i, CC_STAT_WIDTH);
// 영역박스 그리기, 레이블 크기를 필터링 하여(사람크기에 해당될 만큼)
if (labelSizeFiltering(frame, width, height)) {
// 유효한 레이블 인덱스를 저장
obj_array[index].label = index;
// Component에 데이터 저장
obj_array[index] = dataAllocateAtComponent(stats, obj_array[index], i);
// Rect타입 변수에 레이블된 오브젝트 저장
objectRegion = savingRectangle(frame, obj_array[index]);
result.push_back(obj_array[index]);
index++;
}
}
return result;
}
void *opencv(void * args)
{
/*
DEBUT TRAITEMENT OPENCV
*/
Mat imgHSV;
cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV); //Passe de BGR a HSV
inRange(imgHSV, Scalar(LH, LS, LV), Scalar(HH, HS, HV), imgDetection); //Met en noir les parties non comprit dans notre intervalle pour la balle
//Retire les petits parasite en fond
erode(imgDetection, imgDetection, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
dilate(imgDetection, imgDetection, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
dilate(imgDetection, imgDetection, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
erode(imgDetection, imgDetection, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
int i, nlabels;
Rect box;
int maxArea=0;
Mat labels;
Mat centroids;
Mat stats;
//Calcul des différentes composantes connexes de l'image
nlabels=connectedComponentsWithStats(imgDetection, labels, stats, centroids, 4, CV_32S);
//On recherche la composante connexe la plus grande
for(i=1; i<(int)nlabels;i++)
{
int *row = (int *) &stats.at<int>(i,0);
//printf("i : %d, mon area %d vs %d max \n", i, row[CC_STAT_AREA], maxArea);
if(row[CC_STAT_AREA]>maxArea)
{
box = Rect(row[CC_STAT_LEFT], row[CC_STAT_TOP], row[CC_STAT_WIDTH], row[CC_STAT_HEIGHT]);
maxArea=row[CC_STAT_AREA];
}
}
Moments position;
//cout << maxArea << endl << (int)(Ball.lastdZone*0.3) << endl;
//Si la composante connexe n'est pas assez grande ce n'est pas l'objet
if(maxArea>200)//(int)(0.3*Ball.lastdZone))
{
Ball.setFoundCV(true);
rectangle(imgOriginal, box, Scalar(0,255,0), 4, 8, 0);
//Calcule l emplacement de l objet
position = moments(imgDetection(box));
double y = position.m01; //y
double x = position.m10; //x
double dZone = position.m00; //z
//cout << "dZone " << dZone << endl << "LdZone " << Ball.lastdZone << endl;
posX = x / dZone;
posY = y / dZone;
posX+=box.x;
posY+=box.y;
int posZ=0;
if(dZone>Ball.lastdZone+Ball.lastdZone*0.2)
{
posZ=-1; //Trop près de l'objet, il faut reculer.
}
else if(dZone > Ball.lastdZone-Ball.lastdZone*0.2 && dZone < Ball.lastdZone+Ball.lastdZone*0.2)
{
posZ=0; //On est à distance correcte de l'objet
}
else
{
posZ=1; //Trop loin de l'objet, il faut avancer.
}
Ball.setCurrentCV((float)posX/fSize.width*100,(float)posY/fSize.height*100, (float)posZ);
}
else
{
if(activate) {//On passe ici quand la zone détectée est trop petite ou que l'on en détecte pas.
//AtCmd::sendMovement(0, 0, 0, 0, 0); // CHANGE
}
Ball.setFoundCV(false);
}
/*
FIN TRAITEMENT OPENCV
*/
return NULL;
}
