commit 25610d201a2ca8ebd7d0f77a29ec0cc47c964f7b
author Milind Upadhyay <milind.upadhyay@gmail.com> Mon Feb 07 15:35:26 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Mon Feb 07 15:35:26 2022 -0800
tree 4c61f19f286f60b5909ff4c10d2d70bac8ab083f
parent 7704756f30436a31a2e7f6f2377f61403f5ac532

Put blob detection results in a struct

Passing around 5 variables got really clunky.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I27b073635377c344aa02b01a094169ef90aff56e

y2022/vision/blob_detector.cc

diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index aba3550..a732762 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -293,18 +293,16 @@
   cv::circle(view_image, centroid, 3, cv::Scalar(255, 255, 0), cv::FILLED);
 }
 
-void BlobDetector::ExtractBlobs(
-    cv::Mat rgb_image, cv::Mat &binarized_image,
-    std::vector<std::vector<cv::Point>> &filtered_blobs,
-    std::vector<std::vector<cv::Point>> &unfiltered_blobs,
-    std::vector<BlobStats> &blob_stats, cv::Point &centroid) {
+void BlobDetector::ExtractBlobs(cv::Mat rgb_image,
+                                BlobDetector::BlobResult *blob_result) {
   auto start = aos::monotonic_clock::now();
-  binarized_image = ThresholdImage(rgb_image);
-  unfiltered_blobs = FindBlobs(binarized_image);
-  blob_stats = ComputeStats(unfiltered_blobs);
-  auto filtered_pair = FilterBlobs(unfiltered_blobs, blob_stats);
-  filtered_blobs = filtered_pair.first;
-  centroid = filtered_pair.second;
+  blob_result->binarized_image = ThresholdImage(rgb_image);
+  blob_result->unfiltered_blobs = FindBlobs(blob_result->binarized_image);
+  blob_result->blob_stats = ComputeStats(blob_result->unfiltered_blobs);
+  auto filtered_pair =
+      FilterBlobs(blob_result->unfiltered_blobs, blob_result->blob_stats);
+  blob_result->filtered_blobs = filtered_pair.first;
+  blob_result->centroid = filtered_pair.second;
   auto end = aos::monotonic_clock::now();
   LOG(INFO) << "Blob detection elapsed time: "
             << std::chrono::duration<double, std::milli>(end - start).count()