HSVPresenter.hpp

//HSVPresenter.hpp
// Created on: May 12, 2015
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>
#pragma once
#include <ros/ros.h>
#include <opencv2/opencv.hpp>
#include <vision_module/Tools/Parameters.hpp>
#include <vision_module/Tools/MatPublisher.hpp>
using namespace cv;
class HSVPresenter
{
private:
    int rangeImgWidth;
    int rangeImgHeight;
    Size rangeImgSize;
    bool lastActiveRange[COLORED_OBJECT_COUNT];
    int activeIndex;
    hsvRangeC currecntRanges[COLORED_OBJECT_COUNT];
    Mat rangeImg;
public:
    HSVPresenter() :
            rangeImgWidth(50), rangeImgHeight(200), rangeImgSize(rangeImgWidth,
                    rangeImgHeight), activeIndex(-1), rangeImg(rangeImgSize,
                    CV_8UC3)
    {
        lastActiveRange[0] = params.field->GetHSVRange().active->get();
        lastActiveRange[1] = params.ball->GetHSVRange().active->get();
        lastActiveRange[2] = params.goal->GetHSVRange().active->get();
        lastActiveRange[3] = params.line->GetHSVRange().active->get();
        lastActiveRange[4] = params.obstacle->GetHSVRange().active->get();
        lastActiveRange[5] = params.igus->GetHSVRange().active->get();

        currecntRanges[0] = params.field->GetHSVRange();
        currecntRanges[1] = params.ball->GetHSVRange();
        currecntRanges[2] = params.goal->GetHSVRange();
        currecntRanges[3] = params.line->GetHSVRange();
        currecntRanges[4] = params.obstacle->GetHSVRange();
        currecntRanges[5] = params.igus->GetHSVRange();
    }
    inline ~HSVPresenter()
    {
    }
    bool Update();
    void DrawOnInputMat(Mat &guiImg, bool SHOWGUI);
};