commit e7aa40c3652f92ef9bb79d6a9e293ae3a570f0a3
author Milind Upadhyay <milind.upadhyay@gmail.com> Sat Jan 29 22:36:21 2022 -0800
committer milind-u <milind.upadhyay@gmail.com> Wed Feb 02 18:36:59 2022 -0800
tree 98e5b8ddb5f7c76698812fce4de7399822e4ac8f
parent 9219598b7b6f1b3a647a311b01c20245a61cb2b6

Filter for blobs that fit on a circle

Using RANSAC to find combinations of blobs that fit on a circle.

Taking ~1ms per iteration of blob detection and filteration.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I231e921135aca217a8715c7a7421829eb557119f

y2022/vision/blob_detector.h

diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
index 84e504d..f95b217 100644
--- a/y2022/vision/blob_detector.h
+++ b/y2022/vision/blob_detector.h
@@ -29,8 +29,10 @@
   static std::vector<BlobStats> ComputeStats(
       std::vector<std::vector<cv::Point>> blobs);
 
-  // Filter blobs to get rid of noise, too large items, etc.
-  static std::vector<std::vector<cv::Point>> FilterBlobs(
+  // Filter blobs to get rid of noise, too small/large items, and blobs that
+  // aren't in a circle. Returns a pair of filtered blobs and the average
+  // of their centroids.
+  static std::pair<std::vector<std::vector<cv::Point>>, cv::Point> FilterBlobs(
       std::vector<std::vector<cv::Point>> blobs,
       std::vector<BlobStats> blob_stats);
 
@@ -40,13 +42,13 @@
       cv::Mat view_image,
       const std::vector<std::vector<cv::Point>> &filtered_blobs,
       const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
-      const std::vector<BlobStats> &blob_stats);
+      const std::vector<BlobStats> &blob_stats, cv::Point centroid);
 
   static void ExtractBlobs(
       cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
       std::vector<std::vector<cv::Point>> &filtered_blobs,
       std::vector<std::vector<cv::Point>> &unfiltered_blobs,
-      std::vector<BlobStats> &blob_stats);
+      std::vector<BlobStats> &blob_stats, cv::Point &centroid);
 };
 }  // namespace vision
 }  // namespace y2022