bool MS_Blueball_Decide::onStep()
{
LOG(LTRACE) << "MS_Blueball_Decide::step\n";
blobs_ready = hue_ready = false;
try {
int id = 0;
int i;
Types::Blobs::Blob *currentBlob;
Types::DrawableContainer Blueballs;
// iterate through all found blobs
for (i = 0; i < blobs.GetNumBlobs(); i++ )
{
currentBlob = blobs.GetBlob(i);
// // get mean color from area coverd by blob (from hue component)
// double me = currentBlob->Mean(&h);
// double st = currentBlob->StdDev(&h);
// get blob bounding rectangle and ellipse
CvBox2D r2 = currentBlob->GetEllipse();
// // blob moments
// double m00, m10, m01, m11, m02, m20;
// double M11, M02, M20, M7;
//
// // calculate moments
// m00 = currentBlob->Moment(0,0);
// m01 = currentBlob->Moment(0,1);
// m10 = currentBlob->Moment(1,0);
// m11 = currentBlob->Moment(1,1);
// m02 = currentBlob->Moment(0,2);
// m20 = currentBlob->Moment(2,0);
//
// M11 = m11 - (m10*m01)/m00;
// M02 = m02 - (m01*m01)/m00;
// M20 = m20 - (m10*m10)/m00;
//
// // for circle it should be ~0.0063
// M7 = (M20*M02-M11*M11) / (m00*m00*m00*m00);
std::cout << "Center: " << r2.center.x << "," << r2.center.y << "\n";
++id;
Blueballs.add(new Types::Ellipse(Point(r2.center.x, r2.center.y), Size(r2.size.width, r2.size.height), r2.angle));
}
out_balls.write(Blueballs);
newImage->raise();
return true;
} catch (...) {
LOG(LERROR) << "MS_Blueball_Decide::onNewImage failed\n";
return false;
}
}
bool MS_Barcode_Decide::onStep()
{
blobs_ready = hue_ready = false;
try {
int i;
IplImage h = IplImage(hue_img);
Types::Blobs::Blob *currentBlob;
Types::DrawableContainer signs;
// iterate through all found blobs
for (i = 0; i < blobs.GetNumBlobs(); i++ )
{
currentBlob = blobs.GetBlob(i);
// get mean color from area coverd by blob (from hue component)
double me = currentBlob->Mean(&h);
double st = currentBlob->StdDev(&h);
// get blob bounding rectangle and ellipse
//CvBox2D be = currentBlob->GetEllipse();
cv::Rect bb = currentBlob->GetBoundingBox();
signs.add(new Types::Rectangle(bb.x, bb.y, bb.width, bb.height));
}
out_signs.write(signs);
newImage->raise();
return true;
} catch (...) {
LOG(LERROR) << "MS_Sign_Decide::onNewImage failed\n";
return false;
}
}
bool ExtractBlocks_Processor::onStep()
{
LOG(LTRACE) << "ExtractBlocks_Processor::step\n";
blobs_ready = hue_ready = false;
try {
int id = 0;
int i;
IplImage h = IplImage(hue_img);
Types::Blobs::Blob *currentBlob;
Types::DrawableContainer blocks;
// iterate through all found blobs
for (i = 0; i < blobs.GetNumBlobs(); i++ )
{
currentBlob = blobs.GetBlob(i);
// get blob bounding rectangle
CvRect r2 = currentBlob->GetBoundingBox();
++id;
blocks.add(new Types::Rectangle(r2.x, r2.y, r2.width, r2.height));
out_blocks.write(blocks);
newImage->raise();
}
return true;
} catch (...) {
LOG(LERROR) << "ExtractBlocks_Processor::onNewImage failed\n";
return false;
}
}
