|
JeVoisBase
1.22
JeVois Smart Embedded Machine Vision Toolkit Base Modules
|
|
|
JeVoisBase
1.22
JeVois Smart Embedded Machine Vision Toolkit Base Modules
|
|
Simple color-based object/blob detection/tracking. More...
#include <jevoisbase/Components/ObjectDetection/BlobDetector.H>
Public Member Functions | |
| virtual | ~BlobDetector () |
| Virtual destructor for safe inheritance. | |
| std::vector< std::vector< cv::Point > > | detect (cv::Mat const &imghsv) |
| Detect blobs, each is represented as a contour (vector of (x,y) coordinates) | |
 Public Member Functions inherited from jevois::Component | |
| Component (std::string const &instance) | |
| virtual | ~Component () |
| std::shared_ptr< Comp > | addSubComponent (std::string const &instance, Args &&...args) |
| void | removeSubComponent (std::shared_ptr< Comp > &component) |
| void | removeSubComponent (std::string const &instance, bool warnIfNotFound=true) |
| std::shared_ptr< Comp > | getSubComponent (std::string const &instance) const |
| bool | isTopLevel () const |
| bool | initialized () const |
| std::string const & | className () const |
| std::string const & | instanceName () const |
| std::vector< std::string > | setParamVal (std::string const ¶mdescriptor, T const &val) |
| void | setParamValUnique (std::string const ¶mdescriptor, T const &val) |
| std::vector< std::pair< std::string, T > > | getParamVal (std::string const ¶mdescriptor) const |
| T | getParamValUnique (std::string const ¶mdescriptor) const |
| std::vector< std::string > | setParamString (std::string const ¶mdescriptor, std::string const &val) |
| void | setParamStringUnique (std::string const ¶mdescriptor, std::string const &val) |
| std::vector< std::pair< std::string, std::string > > | getParamString (std::string const ¶mdescriptor) const |
| std::string | getParamStringUnique (std::string const ¶mdescriptor) const |
| void | freezeParam (std::string const ¶mdescriptor, bool doit) |
| void | freezeAllParams (bool doit) |
| std::string | descriptor () const |
| void | setParamsFromFile (std::string const &filename) |
| std::istream & | setParamsFromStream (std::istream &is, std::string const &absfile) |
| virtual void | paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="") |
| void | foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="") |
| std::shared_ptr< DynamicParameter< T > > | addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category) |
| std::shared_ptr< DynamicParameter< T > > | addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category) |
| void | setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true) |
| void | removeDynamicParameter (std::string const &name, bool throw_if_not_found=true) |
| void | setPath (std::string const &path) |
| std::filesystem::path | absolutePath (std::filesystem::path const &path="") |
| std::shared_ptr< Comp > | addSubComponent (std::string const &instance, Args &&...args) |
| void | removeSubComponent (std::shared_ptr< Comp > &component) |
| void | removeSubComponent (std::string const &instance, bool warnIfNotFound=true) |
| std::shared_ptr< Comp > | getSubComponent (std::string const &instance) const |
| bool | isTopLevel () const |
| bool | initialized () const |
| std::string const & | className () const |
| std::string const & | instanceName () const |
| std::vector< std::string > | setParamVal (std::string const ¶mdescriptor, T const &val) |
| void | setParamValUnique (std::string const ¶mdescriptor, T const &val) |
| std::vector< std::pair< std::string, T > > | getParamVal (std::string const ¶mdescriptor) const |
| T | getParamValUnique (std::string const ¶mdescriptor) const |
| std::vector< std::string > | setParamString (std::string const ¶mdescriptor, std::string const &val) |
| void | setParamStringUnique (std::string const ¶mdescriptor, std::string const &val) |
| std::vector< std::pair< std::string, std::string > > | getParamString (std::string const ¶mdescriptor) const |
| std::string | getParamStringUnique (std::string const ¶mdescriptor) const |
| void | freezeParam (std::string const ¶mdescriptor, bool doit) |
| void | freezeAllParams (bool doit) |
| std::string | descriptor () const |
| void | setParamsFromFile (std::string const &filename) |
| std::istream & | setParamsFromStream (std::istream &is, std::string const &absfile) |
| virtual void | paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="") |
| void | foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="") |
| std::shared_ptr< DynamicParameter< T > > | addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category) |
| std::shared_ptr< DynamicParameter< T > > | addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category) |
| void | setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true) |
| void | removeDynamicParameter (std::string const &name, bool throw_if_not_found=true) |
| void | setPath (std::string const &path) |
| std::filesystem::path | absolutePath (std::filesystem::path const &path="") |
| Public Member Functions inherited from jevois::ParameterRegistry | |
| virtual | ~ParameterRegistry () |
Additional Inherited Members | |
| Protected Member Functions inherited from jevois::Component | |
| virtual void | preInit () |
| virtual void | postInit () |
| virtual void | preUninit () |
| virtual void | postUninit () |
| virtual void | preInit () |
| virtual void | postInit () |
| virtual void | preUninit () |
| virtual void | postUninit () |
| Protected Member Functions inherited from jevois::ParameterRegistry | |
| void | addParameter (ParameterBase *const param) |
| void | removeParameter (ParameterBase *const param) |
| void | callbackInitCall () |
Simple color-based object/blob detection/tracking.
This component isolates pixels within a given HSV range (hue, saturation, and value of color pixels), does some cleanups, and extracts object contours. It sends information about object centers over serial.
This algorithm usually works best with the camera sensor set to manual exposure, manual gain, manual color balance, etc so that HSV color values are reliable.
This code was loosely inspired by: https://raw.githubusercontent.com/kylehounslow/opencv-tuts/master/object-tracking-tut/objectTrackingTut.cpp written by Kyle Hounslow, 2013.
For more information, see ObjectTracker
Definition at line 93 of file BlobDetector.H.
|
virtual |
Virtual destructor for safe inheritance.
Definition at line 25 of file BlobDetector.C.
| std::vector< std::vector< cv::Point > > BlobDetector::detect | ( | cv::Mat const & | imghsv | ) |
Detect blobs, each is represented as a contour (vector of (x,y) coordinates)
Definition at line 29 of file BlobDetector.C.
References area().
Referenced by FirstPython.FirstPython::process(), PythonObject6D.PythonObject6D::process(), FirstPython.FirstPython::processNoUSB(), and PythonObject6D.PythonObject6D::processNoUSB().
1.9.8
