int arrow_detection::segmentation(Mat binary_image,vector<Rect> &blobs_roi, vector <vector<Point2i>> &blobs){
int image_area = (float(3500)/float(1080*760)) * binary_image.total();
// DEBUG_LOG("Minimum blob area: %d\n",image_area);
findBlobs(binary_image, blobs,image_area);
blobs_roi.clear();
for(size_t i=0; i < blobs.size(); i++) {
int min_x,min_y,max_x,max_y;
max_x = max_y = 0;
min_x = binary_image.cols;
min_y = binary_image.rows;
for(size_t j=0; j < blobs[i].size(); j++) {
int x = blobs[i][j].x;
int y = blobs[i][j].y;
if(x < min_x){
min_x = x;
}
if (x > max_x){
max_x = x;
}
if(y < min_y){
min_y = y;
}
if(y > max_y){
max_y = y;
}
}
blobs_roi.push_back(Rect(min_x,min_y,abs(min_x-max_x),abs(min_y - max_y)));
}
return 0;
}
/**
* Runs an iteration of the Pipeline and updates outputs.
*
* Sources need to be set before calling this method.
*
*/
void GripPipeline::process(cv::Mat source0){
//Step CV_resize0:
//input
cv::Mat cvResizeSrc = source0;
cv::Size cvResizeDsize(0, 0);
double cvResizeFx = 0.25; // default Double
double cvResizeFy = 0.25; // default Double
int cvResizeInterpolation = cv::INTER_LINEAR;
cvResize(cvResizeSrc, cvResizeDsize, cvResizeFx, cvResizeFy, cvResizeInterpolation, this->cvResizeOutput);
//Step HSV_Threshold0:
//input
cv::Mat hsvThresholdInput = cvResizeOutput;
double hsvThresholdHue[] = {42.086330935251794, 86.7911714770798};
double hsvThresholdSaturation[] = {32.10431654676259, 207.37691001697794};
double hsvThresholdValue[] = {91.72661870503596, 255.0};
hsvThreshold(hsvThresholdInput, hsvThresholdHue, hsvThresholdSaturation, hsvThresholdValue, this->hsvThresholdOutput);
//Step CV_erode0:
//input
cv::Mat cvErodeSrc = hsvThresholdOutput;
cv::Mat cvErodeKernel;
cv::Point cvErodeAnchor(-1, -1);
double cvErodeIterations = 1; // default Double
int cvErodeBordertype = cv::BORDER_CONSTANT;
cv::Scalar cvErodeBordervalue(-1);
cvErode(cvErodeSrc, cvErodeKernel, cvErodeAnchor, cvErodeIterations, cvErodeBordertype, cvErodeBordervalue, this->cvErodeOutput);
//Step Mask0:
//input
cv::Mat maskInput = cvResizeOutput;
cv::Mat maskMask = cvErodeOutput;
mask(maskInput, maskMask, this->maskOutput);
//Step Find_Blobs0:
//input
cv::Mat findBlobsInput = maskOutput;
double findBlobsMinArea = 0.0; // default Double
double findBlobsCircularity[] = {0.0, 1.0};
bool findBlobsDarkBlobs = true; // default Boolean
findBlobs(findBlobsInput, findBlobsMinArea, findBlobsCircularity, findBlobsDarkBlobs, this->findBlobsOutput);
}
