BallDetector.hpp

//BallDetector.hpp
// Created on: May 12, 2015
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>
#pragma once
#include <opencv2/opencv.hpp>
#include <math.h>
#include <vision_module/Tools/Parameters.hpp>
#include <vision_module/Tools/General.hpp>
#include <vision_module/Tools/SortFuntions.hpp>
#include <vision_module/Tools/LinearBoundaryChecker.hpp>
#include <vision_module/Tools/LineSegment.hpp>
#include <vision_module/Tools/GuiManager.hpp>
#include <vision_module/Projections/CameraProjections.hpp>
#include <vision_module/SoccerObjects/IDetector.hpp>
#include <algorithm>    // std::sort
#include <string>     // std::string, std::to_string
#include <boost/range/algorithm_ext/erase.hpp>
using namespace cv;


class BallCircleC: public CircleC
{
public:
    Point2f RealPos;
    bool isCascade;
    bool enable;
    bool isMerged;
    BallCircleC(Point Center, int Radius, Point2f RealPos, bool isCascade,
            bool enable = true, bool isMerged = false) :
            CircleC(Center, Radius), RealPos(RealPos), isCascade(isCascade), enable(
                    enable), isMerged(isMerged)
    {

    }
    BallCircleC(const BallCircleC& _in) :
            CircleC(_in), RealPos(_in.RealPos), isCascade(_in.isCascade), enable(
                    _in.enable), isMerged(_in.isMerged)
    {
    }
};
class BallDetector: public IDetector
{
private:
    CascadeClassifier object_cascade;
    bool checkHistogram(const Mat &rawHSV, const Mat &fieldBinaryRaw,
            const vector<cv::Point> &con, double minHistogramDiff[3],
            double histResult[3]);

    bool checkHistogram(const Mat &rawHSV, const Mat &fieldBinaryRaw,
            cv::Point center, int radius, double minHistogramDiff[3],
            double histResult[3]);

    bool checkHistogramInPic(cv::Mat &hsvRoi, cv::Mat &justBallMask,
            double minHistogramDiff[3], double histResult[3]);

    bool checkDistance_Rec(const cv::Rect &rec, CameraProjections &projection,
            Point2f &realPos);

public:
    std::vector<BallCircleC> GetBall(const Mat &rawHSV,
            const vector<Point> &hullField, const Mat &fieldBinaryRaw,
            Mat &rawGray, const Mat &ballMask, const Mat &fieldConvectHull,
            CameraProjections &projection, Mat &cannyImg,
            GuiManager *_guiManager, Mat &guiImg, bool SHOWGUI);

    bool Init();
    bool LoadCascade();
    inline ~BallDetector()
    {
    }
};