C++ CBlobResult::ClearBlobs方法代码示例

/* Fetch a frame (if available) and process it, calling appropriate 
 callbacks when data becomes available. */
void MarkerCapture::tick(){
    IplImage *thresh_frame = NULL;
    CBlobResult blobs;
    
    // Acquire the lock, update the current frame.
    pthread_mutex_lock(&frame_mutex);
    current_frame = cvCloneImage(cvQueryFrame(camera));
    if(color_acquired && current_frame){
        thresh_frame = apply_threshold(current_frame, target_color);
    }else{
        // create a suplicant.
        thresh_frame = cvCreateImage(cvGetSize(current_frame),IPL_DEPTH_8U,1);
    }
    pthread_mutex_unlock(&frame_mutex);
    // Lock released. Done messing with buffers.
    
    if(frame_update_callback){
        (*frame_update_callback)(this, current_frame, thresh_frame);
    }
    if(color_acquired){
        blobs = detect_blobs(thresh_frame, CV_BLOB_SIZE_MIN);
        if(blobs.GetNumBlobs() >= 2){ // need 2 or more blobs for positional fix.
            MarkerPositionEstimate position;
            // fetch the two largest blobs, by area.
            CBlob blob0, blob1;
            blobs.GetNthBlob(CBlobGetArea(), 0, blob0);
            blobs.GetNthBlob(CBlobGetArea(), 1, blob1);
            // perform positional calculations
            position.distance = distance(blob0, blob1);
            position.angle = angle(blob0, blob1);
            position.blob0_center = blob_center(blob0);
            position.blob1_center = blob_center(blob1);
            // call the update handler.
            if(position_update_callback){
                (*position_update_callback)(this, position);
            }
        }
        blobs.ClearBlobs();
    }
    
    pthread_mutex_lock(&frame_mutex);
    cvReleaseImage(&current_frame);
    cvReleaseImage(&thresh_frame);
    pthread_mutex_unlock(&frame_mutex);
    
    int curr_time = clock();
    fps = CLOCKS_PER_SEC/(double)(curr_time - time);
    time = curr_time;
}

//.........这里部分代码省略.........

                // RECORDING: record converted to hsv video
                //videoFile.write((char*) img_hsv.data, size); //video ging hier

                // Get the separate HSV color components of the color input image.
                std::vector<Mat> channels(3);
                split(img_hsv, channels);

                Mat planeH = channels[0];
                Mat planeS = channels[1];
                Mat planeV = channels[2];

                // Detect which pixels in each of the H, S and V channels are probably skin pixels.
                threshold(planeH, planeH, 150, UCHAR_MAX, CV_THRESH_BINARY_INV);//18
                threshold(planeS, planeS, 60, UCHAR_MAX, CV_THRESH_BINARY);//50
                threshold(planeV, planeV, 170, UCHAR_MAX, CV_THRESH_BINARY);//80

                // Combine all 3 thresholded color components, so that an output pixel will only
                // be white if the H, S and V pixels were also white.
                Mat imageSkinPixels = Mat(img_hsv.size(), CV_8UC3);	// Greyscale output image.
                bitwise_and(planeH, planeS, imageSkinPixels);	// imageSkin = H {BITWISE_AND} S.
                bitwise_and(imageSkinPixels, planeV, imageSkinPixels);	// imageSkin = H {BITWISE_AND} S {BITWISE_AND} V.

                // Assing the Mat (C++) to an IplImage (C), this is necessary because the blob detection is writtn in old opnCv C version
                IplImage ipl_imageSkinPixels = imageSkinPixels;

                // RECODING: record the video using the C container variable
                // RECODING: store the size (in memory meaning) of the image for recording purpouse
                //size = img_cam->getSize();
                //videoFile.write((char*) ipl_imageSkinPixels.imageData, size/3);

                // Set up the blob detection.
                CBlobResult blobs;
                blobs.ClearBlobs();
                blobs = CBlobResult(&ipl_imageSkinPixels, NULL, 0);	// Use a black background color.

                // Ignore the blobs whose area is less than minArea.
                blobs.Filter(blobs, B_EXCLUDE, CBlobGetArea(), B_LESS, minBlobArea);

                // ##### Gestures #####
                std::cout << "Number of Blobs: " << blobs.GetNumBlobs() <<endl;
                if(blobs.GetNumBlobs() == 0)
                {
                    //picture empty
                }
                else if(blobs.GetNumBlobs() == 1)
                {
                    //head detected
                    trackHead(getCenterPoint(blobs.GetBlob(0)->GetBoundingBox()).x, getCenterPoint(blobs.GetBlob(0)->GetBoundingBox()).y);

                }
                else if(blobs.GetNumBlobs() == 2 || blobs.GetNumBlobs() == 3)
                {
                    //head + one hand || head + two hands
                    Rect rect[3];
                    int indexHead = -1, indexHandLeft = -1, indexHandRight = -1;

                    //Get Bounding Boxes
                    for(int i = 0; i< blobs.GetNumBlobs(); i++)
                    {
                        rect[i] = blobs.GetBlob(i)->GetBoundingBox();
                    }

                    //Detect Head and Hand indexes
                    if(blobs.GetNumBlobs() == 2)
                    {