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/* Copyright (c) 2012 Patrick Ruoff
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "point_extractor.h"
#include <QDebug>
using namespace cv;
using namespace std;
// ----------------------------------------------------------------------------
const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)
{
// convert to grayscale
Mat frame_bw;
cvtColor(frame, frame_bw, CV_RGB2GRAY);
// convert to binary
threshold(frame_bw, frame_bw, threshold_val, 255, THRESH_BINARY);
erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size);
// find contours
vector< vector<Point> > contours;
findContours(frame_bw.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
// extract points
// TODO: use proximity to old points for classification
float r;
Vec2f c;
Point2f dummy;
points.clear();
for (vector< vector<Point> >::iterator iter = contours.begin();
iter!= contours.end();
++iter)
{
minEnclosingCircle(*iter, dummy, r);
if (r > max_size - min_size) break;
Moments m = moments(*iter);
if (m.m00 == 0) break;
// convert to centered camera coordinate system with y axis upwards
c[0] = (m.m10/m.m00 - frame.cols/2)/frame.cols;
c[1] = -(m.m01/m.m00 - frame.rows/2)/frame.cols;
points.push_back(c);
}
// draw output image
if (draw_output)
{
frame.setTo(Scalar(255,0,0), frame_bw);
}
return points;
}
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