BioTrackerTrackingAlgorithm.cpp

#include "BioTrackerTrackingAlgorithm.h"
#include "Utility/TrackedComponents/TrackedComponentFactory.h"
#include <future>
#include <chrono>

BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IModel *parameter, IModel *trajectory)
{
    _TrackingParameter = (TrackerParameter*)parameter;
    _TrackedTrajectoryMajor = (TrackedTrajectory*)trajectory;
    _imageX = 100;
    _imageY = 100;
}

void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, uint framenumber)
{
    auto start = std::chrono::high_resolution_clock::now();

    //dont do nothing if we ain't got an image
    if (p_image->empty()) {
        return;
    }

    if (_imageX != p_image->size().width || _imageY != p_image->size().height) {
        _imageX = p_image->size().width;
        _imageY = p_image->size().height;
        Q_EMIT emitDimensionUpdate(_imageX, _imageY);
    }

    using namespace cv;

    cv::Mat imgHSV;
    std::shared_ptr<cv::Mat> _imgTracked = std::make_shared<cv::Mat>();

    cvtColor(*p_image, imgHSV,
        COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV


    inRange(imgHSV, Scalar(_TrackingParameter->_lowH, _TrackingParameter->_lowS, _TrackingParameter->_lowV),
        Scalar(_TrackingParameter->_highH, _TrackingParameter->_highS, _TrackingParameter->_highV),
        *_imgTracked); //Threshold the image

    //morphological opening (remove small objects from the foreground)
    erode(*_imgTracked, *_imgTracked, getStructuringElement(MORPH_ELLIPSE, Size(5,
        5)));
    dilate(*_imgTracked, *_imgTracked, getStructuringElement(MORPH_ELLIPSE, Size(5,
        5)));

    //morphological closing (fill small holes in the foreground)
    cv::dilate(*_imgTracked, *_imgTracked,
        cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5)));
    cv::erode(*_imgTracked, *_imgTracked, cv::getStructuringElement(cv::MORPH_ELLIPSE,
        cv::Size(5, 5)));

    Q_EMIT emitCvMatA(_imgTracked, QString("Tracked"));
    Q_EMIT emitChangeDisplayImage("Tracked");


    Q_EMIT emitTrackingDone(framenumber);
}