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.h

diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
index f8a4ab4..4077e2c 100644
--- a/y2022/vision/blob_detector.h
+++ b/y2022/vision/blob_detector.h
@@ -16,7 +16,15 @@
     size_t num_points;
   };
 
+  struct BlobResult {
+    cv::Mat binarized_image;
+    std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs;
+    std::vector<BlobStats> blob_stats;
+    cv::Point centroid;
+  };
+
   BlobDetector() {}
+
   // Given an image, threshold it to find "green" pixels
   // Input: Color image
   // Output: Grayscale (binarized) image with green pixels set to 255
@@ -44,11 +52,7 @@
       const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
       const std::vector<BlobStats> &blob_stats, cv::Point centroid);
 
-  static void 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);
+  static void ExtractBlobs(cv::Mat rgb_image, BlobResult *blob_result);
 };
 }  // namespace vision
 }  // namespace y2022