示例#1
0
文件: cvPicture.cpp 项目: loyoen/Jet
vector<LPPACKAGE> cvPic::getPrintPack()
{
    string srcImg = ImgName;									// 源图片的位置
    int num = 0;															// 连通图个数
    cv::Mat grayImg = cv::imread( srcImg );									// 将图片加载
    cv::Mat labelImg;
    vector<int> stRun,enRun,rowRun,runLabels;
    vector<pair<int,int>> equivalences;

    vector<int> imgX,imgY,imgColor;
    int imgWidth,imgHeight;

    cv::cvtColor( grayImg, labelImg, CV_BGR2GRAY );							// 灰度化图像
    cv::threshold( labelImg, labelImg, 150, 255, CV_THRESH_BINARY );		// 二值化图像

    packagePictureInfo( labelImg, imgX, imgY, imgColor );
    imgWidth = labelImg.cols;
    imgHeight = labelImg.rows;

    fillRunVectors( labelImg, num, stRun, enRun, rowRun );					// 完成团的标记与等价对列表的生成
    firstPass( stRun, enRun, rowRun, num, runLabels, equivalences, 1 );		// 八邻接
    replaceSameLabel( runLabels, equivalences );

    printf( "连通图数目为:%d\n", num );
    return getPackages(imgWidth,imgHeight,imgX,imgY,imgColor);
}
void ObstacleDetection::ObstacleDetecting(const int obstacleMap[120][120], RobPose cRobotPos)
{

    int cObstacleMap[120][120];
    memcpy(cObstacleMap, obstacleMap, 120*120*sizeof(int));

    stRun.clear();
    enRun.clear();
    rowRun.clear();
    runLabels.clear();
    equivalences.clear();
    numberOfRuns = 0;
    offset = 1;
    obsNum = 0;
    obsPoses.clear();

    std::stringstream out;
    out<<frames_num;
    std::string filename = "ObstacleMap" + out.str() + ".txt";
    std::ofstream Obstaclemapfile(filename);
    if (Obstaclemapfile.is_open())
    {
        for(int i = 0; i < 120; i++)
        {
            for(int j = 0; j < 120; j++)
            {
                Obstaclemapfile<<cObstacleMap[i][j]<<" ";
            }
            Obstaclemapfile<<std::endl;
        }
    }
    frames_num++;

    fillRunVectors(cObstacleMap, numberOfRuns, stRun, enRun, rowRun);

    if(numberOfRuns > 0)
    {
        firstPass(stRun, enRun, rowRun, numberOfRuns, runLabels, equivalences, offset);
        replaceSameLabel(runLabels, equivalences);
        FindObstacle(stRun, enRun, rowRun, numberOfRuns, runLabels, obsNum, obsPoses, cRobotPos);
        cout<<"Num of Obstalces: "<<obsNum<<endl;
    }
}