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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2015-2016 Stanislaw Halik <sthalik@misaki.pl>
*
* 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.
*/
#ifndef POINTEXTRACTOR_H
#define POINTEXTRACTOR_H
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "ftnoir_tracker_pt_settings.h"
#include <cmath>
#include <vector>
class PointExtractor final
{
public:
// extracts points from frame and draws some processing info into frame, if draw_output is set
// dt: time since last call in seconds
// WARNING: returned reference is valid as long as object
void extract_points(cv::Mat& frame, std::vector<cv::Vec2d>& points);
PointExtractor();
settings_pt s;
private:
static constexpr int max_blobs = 16;
cv::Mat frame_gray;
cv::Mat frame_bin;
cv::Mat hist;
cv::Mat frame_blobs;
struct blob
{
double radius, brightness;
cv::Vec2d pos;
blob(double radius, const cv::Vec2d& pos, double brightness) : radius(radius), brightness(brightness), pos(pos)
{
//qDebug() << "radius" << radius << "pos" << pos[0] << pos[1];
}
};
std::vector<blob> blobs;
};
#endif //POINTEXTRACTOR_H
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