ArBlobDetector.cpp

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/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com
 
Copyright (c) 2012 I-maginer
 
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
 
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
 
You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt
 
-----------------------------------------------------------------------------
*/
 
#include "ArManager.h"
#include "ArCameraParam.h"
#include "ArBlobDetector.h"
 
#include <vector>
 
ArBlobDetector::ArBlobDetector(cv::SimpleBlobDetector::Params params)
{
  needUpdate = false;
 
  mDetector = cv::SimpleBlobDetector::create(params);
 
  // Run thread
  StartThreading(boost::bind(&ArBlobDetector::GoThread, this));
 
  //cv::namedWindow("debug");
}
 
ArBlobDetector::~ArBlobDetector()
{
  StopThreading();
 
  if (!mDetector.empty())
    mDetector.release();
 
  mDotList.clear();
}
 
std::vector<cv::Point3f> ArBlobDetector::GetLastDotList()
{
  boost::mutex::scoped_lock l(mMutex);
  std::vector<cv::Point3f> ldots = mDotList;
  return ldots;
}
 
cv::Size ArBlobDetector::GetLastBufferSize()
{
  boost::mutex::scoped_lock l(mMutex);
  std::vector<cv::Point3f> ldots = mDotList;
  return cv::Size(mLastData.gray.cols, mLastData.gray.rows);
}
 
std::vector<cv::Point3f> ArBlobDetector::DetectBlobs(const cv::Mat input, aruco::CameraParameters camParam, bool reversedBitmap)
{
  std::vector<cv::Point3f> outVector;
 
  try
  {
    std::vector<cv::KeyPoint> keypoints;
    mDetector->detect(input, keypoints);
    
    // extract the x y coordinates of the keypoints: 
    for (unsigned int i = 0; i < keypoints.size(); i++)
    {
      cv::Point3f dot(keypoints[i].pt.x, keypoints[i].pt.y, keypoints[i].size);
      outVector.push_back(dot);
    }
  }
  catch(cv::Exception &)
  {
    //error
  }
 
  return outVector;
}
 
void ArBlobDetector::GoThread()
{
  while (IsRunning())
  {
    if (needUpdate)
    {
      ArManager* manager = ArManager::GetInstance();
      manager->GetLastData(mLastData);
      needUpdate = false;
 
      //cv::equalizeHist(mLastData.gray, mLastData.gray);
      // increase image contrast
      //mLastData.gray.convertTo(mLastData.gray, -1, 1.1, 0);
      cv::blur(mLastData.gray, mLastData.gray, cv::Size(1, 1));
 
      std::vector<cv::Point3f> dotList = DetectBlobs(mLastData.gray, mLastData.arCamParam.camParam, mLastData.reversedBitmap);
      {
        boost::mutex::scoped_lock l(mMutex);
        mDotList = dotList;
      }
    }
    else
    {
      //prevent cpu burn
      boost::this_thread::sleep_for(boost::chrono::milliseconds(1)); //DO not burn too much CPU
    }
  }
}