blob_detector.h

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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 * The following code makes use of the OpenCV library.
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 * Authors: Franz Albers, Christoph Rösmann
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#ifndef BLOBDETECTOR_H_
#define BLOBDETECTOR_H_

// Basically the OpenCV SimpleBlobDetector, extended with getContours()

#include <opencv2/features2d/features2d.hpp>

class BlobDetector : public cv::SimpleBlobDetector
{
public:
  BlobDetector(const cv::SimpleBlobDetector::Params& parameters = cv::SimpleBlobDetector::Params());

  static cv::Ptr<BlobDetector> create(const BlobDetector::Params& params);

  virtual void detect(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints,
                      const cv::Mat& mask = cv::Mat());

  const std::vector<std::vector<cv::Point>>& getContours() { return contours_; }

  void updateParameters(const cv::SimpleBlobDetector::Params& parameters);

protected:
  struct Center
  {
    cv::Point2d location;
    double radius;
    double confidence;
  };

  virtual void findBlobs(const cv::Mat& image, const cv::Mat& binary_image, std::vector<Center>& centers,
                         std::vector<std::vector<cv::Point>>& cur_contours) const;

  std::vector<std::vector<cv::Point>> contours_;

  Params params_;
};

#endif // BLOBDETECTOR_H_