LabelPolicy.cpp

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#include <labust/blueview/LabelPolicy.hpp>

#include <opencv2/imgproc/imgproc.hpp>

using namespace labust::blueview;

TrackedFeatureVecPtr SimpleLabel::label(const MatPtr binary)
{
        //This will be replaced with a LABELING algorithm to save execution time
        cv::morphologyEx(*binary, *binary, cv::MORPH_OPEN,cv::Mat());

        std::vector< std::vector<cv::Point> > contours;
        std::vector<cv::Vec4i> hierarchy;

        cv::findContours(*binary,contours,hierarchy,cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);

        TrackedFeatureVecPtr info(new TrackedFeatureVec);

        for (size_t i = 0; i < contours.size(); ++i)
        {
                std::vector<cv::Point> c_new;
                cv::convexHull(cv::Mat(contours[i]),c_new,true);
                contours[i] = c_new;
                cv::Moments moments = cv::moments(cv::Mat(contours[i]),true);

                TrackedFeature tfeature;
                tfeature.perimeter = cv::arcLength(cv::Mat(contours[i]),true);
                tfeature.area = moments.m00;
                tfeature.pposition.x = (moments.m10)/moments.m00;
                tfeature.pposition.y = (moments.m01)/moments.m00;

                info->push_back(tfeature);
        }

        return info;
};