/* Sort blobs in descending order using selection sort.
NOTE: if efficiency is an issue this sort can be improved
*/
void Blobs::sort() {
for (int i = 0; i < number(); i++){
Blob temp = blobs[i];
int biggest = getBiggest(i);
blobs[i] = blobs[biggest];
blobs[biggest] = temp;
}
}
void printAll(LinkedList list, int num, int noCols) {
Node* walker = list.first;
unsigned* maximums = getBiggest(list, noCols);
while(walker!=NULL) {
for(int i=0; i < noCols; i++) {
printf("%s\t", walker->line[i]);
for(unsigned i = strlen(walker->line[i]); i<maximums[i]; i++) {
printf(" ");
}
}
printf("\n");
walker = walker->next;
}
}
void Camera::showBiggest() {
cuda::GpuMat frame_gpu, frame_hsv_gpu, descriptors_scene;
cap >> frame;
frame_gpu.upload(frame);
cuda::cvtColor(frame_gpu, frame_hsv_gpu, CV_BGR2HSV, 4);
frame_hsv_gpu.download(frame_hsv);
inRange(frame_hsv, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgSave);
#ifdef DEBUG
imshow("Tresh", imgSave);
#endif
frame_hsv_gpu.upload(imgSave);
// Mat cannyOutput;
for(int i = 0; i < ErodeDilate; i++) {
cuda::createMorphologyFilter(MORPH_ERODE, CV_8UC4, imgSave);
cuda::createMorphologyFilter(MORPH_DILATE, CV_8UC4, imgSave);
cuda::createMorphologyFilter(MORPH_DILATE, CV_8UC4, imgSave);
cuda::createMorphologyFilter(MORPH_ERODE, CV_8UC4, imgSave);
}
/*
erode(imgSave, imgSave, getStructuringElement(MORPH_ELLIPSE, Size(3, 3)) );
dilate( imgSave, imgSave, getStructuringElement(MORPH_ELLIPSE, Size(3, 3)) );
dilate(imgSave, imgSave, getStructuringElement(MORPH_ELLIPSE, Size(8, 8)));
erode(imgSave, imgSave, getStructuringElement(MORPH_ELLIPSE, Size(8, 8)));
*/
//Mat dst;
frame_hsv_gpu.download(imgSave);
findContours(imgSave, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0,0));
Mat drawing = Mat::zeros(imgSave.size(), CV_8UC3);
for(int i = 0; i < contours.size(); i++)
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255));
drawContours(drawing, contours, i, color, 2, 8, hierarchy, 0, Point());
}
#ifdef DEBUG
imshow("Drawing", drawing);
imshow("Control", frame_hsv);
#endif
// if (good_matches.size() >= 4) {
color = Scalar( rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255));
Mat biggest = Mat::zeros(imgSave.size(), CV_8UC3);
drawContours(biggest, contours, getBiggest(), color, 2, 8, hierarchy, 0, Point());
#ifdef DEBUG
imshow("Biggest", biggest);
#endif
waitKey(1);
}
std::vector<cv::Rect> RealSenseDetector::detectImpl(const ImageGrayscale &img) {
std::vector<cv::Rect> rects = OpenCVDetector::detect(img);
if (rects.empty()) {
consecutiveDetects = 0;
consecutiveNonDetects++;
// depth face tracker overlap test
if (consecutiveNonDetects < 4 && rsDepthFaceTracker->hasLastRoi()) {
cv::Rect croi = RealSenseDepthFaceTracker::convertScale(rsDepthFaceTracker->getLastCroi(), setup.scale, setup.detectRoi);
cv::Rect intersection = lastRoi & croi;
cv::Rect smallerRoi = croi.area() < lastRoi.area() ? croi : lastRoi;
std::cout << std::dec << " *** RealSenseDetector::detectImpl, lastRoi: " << lastRoi << ", croi: " << croi << ", intersection: " << intersection << std::endl;
std::cout << std::dec << " *** RealSenseDetector::detectImpl, intersection/smallerRoi/croi/lastRoi areas: " <<
intersection.area() << "/" << smallerRoi.area() << "/" << croi.area() << "/" << lastRoi.area() << std::endl;
if (intersection.area() > smallerRoi.area() * 0.5) {
cv::Point croiCenter(croi.x + croi.width / 2, croi.y + croi.height / 2);
cv::Point lregCenter(lastRoi.x + lastRoi.width / 2, lastRoi.y + lastRoi.height / 2);
cv::Point displ(croiCenter - lregCenter);
std::cout << std::dec << " *** RealSenseDetector::detectImpl, displ vector: " << displ << std::endl;
lastRoi.x += displ.x;
lastRoi.y += displ.y;
rects.push_back(lastRoi);
}
} else {
std::cout << std::dec << " *** RealSenseDetector::detectImpl, NO FACE, consecutiveNonDetects: " << consecutiveNonDetects << std::endl;
}
} else {
consecutiveDetects++;
consecutiveNonDetects = 0;
lastRoi = getBiggest(rects);
}
return rects;
}
