Detector.cpp

#include "Detector.h"
using namespace cv;
using namespace std;

Mat backgroundImage;

//----------------------------------------------------------------------
// Äåòåêòîð êîíòóðîâ, âûâîä ðåçóëüòàòîâ
//----------------------------------------------------------------------

CDetector::CDetector(int history, double varThreshold )
{
    //create Background Subtractor objects
    // default values history = 50 and varThreshold = 9
    pMOG2 = createBackgroundSubtractorMOG2(history, varThreshold); //MOG2 approach

}

void CDetector::DetectContour(Mat& mask, Mat& color_frame,vector<Rect>& Rects,vector<Point2d>& centers)
{
	double area=0;
	Rects.clear();
	centers.clear();
	vector<vector<Point> > contours;
	
	vector<Vec4i> hierarchy;
	int target = 0;
	Scalar color(0,255,100);
	findContours(mask,contours, hierarchy, CV_RETR_EXTERNAL, CHAIN_APPROX_SIMPLE, Point());

	
	if( contours.size() == 0 )
	{
	  return;
	}
	
	int idx = 0;
	double minArea = 1500; double maxArea = 7000; 
	for( ; idx >= 0; idx = hierarchy[idx][0] )
	{
	  const vector<Point>& c = contours[idx];
	  double area = fabs(contourArea(Mat(c)));
	  if(area>minArea && area<maxArea)
	  {
	    target = idx;
	    //cout<<"Area"<<area<<endl;
	    Rect r=cv::boundingRect(contours[idx]);
	    Rects.push_back(r);
	    centers.push_back((r.br()+r.tl())*0.5);
	  
	    //drawContours(color_frame, contours, target, color, FILLED, LINE_8, hierarchy );
	    rectangle(color_frame, r, color, 4, LINE_8,0 );
	  }
	}
	//imshow("color inside dectector",color_frame);
}


void CDetector::refineSegments(Mat& depth_frame, Mat& mask, Mat& dst)
{
    int niters = 1;
    Mat temp; 
    dst = Mat::zeros(depth_frame.size(), CV_8UC3);    
    Mat depth_thresh = Mat::zeros(depth_frame.size(), CV_8UC3);
    // threshold the depth image and filter with the thresholded mask
    threshold(depth_frame, depth_thresh, 80, 255, THRESH_BINARY_INV);
    dst = depth_frame & depth_thresh;// masking
    // filter the thresholded mask with the motion mask
    Mat motion_mask_rgb = Mat::zeros(depth_frame.size(), CV_8UC3);
    cvtColor(mask,motion_mask_rgb,COLOR_GRAY2RGB);
    dst = dst & motion_mask_rgb;
    //convert the mask back to gray
    cvtColor(dst,mask,COLOR_RGB2GRAY);
    //dst = mask; // if do not want to dilate uncomment
    Mat element = getStructuringElement( MORPH_ELLIPSE, Size( 2*9 + 1, 2*9+1 ),Point( 9, 9 ) );
    morphologyEx( mask, dst, 2, element,Point(-1,-1),niters*1); // 2 - dilate
}

vector<Point2d> CDetector::Detect(Mat& depth, Mat& color)
{
	Mat refined_fg;
	pMOG2->apply(depth, fgMaskMOG2,0.0001);// can give learning rate	
	refineSegments(depth,fgMaskMOG2,refined_fg);
	DetectContour(refined_fg,color,rects,centers);	
	return centers;
}

CDetector::~CDetector(void)
{
  
}