Colony

#include "vision.h"

#include <cv.h>

#include <highgui.h>

#include <stdio.h>

#define MIN_PADDING 70

#define CAPTURE

struct CenterP {

  CvPoint center;

  int count;

};

#ifdef CAPTURE

static CvCapture *capture;

#endif

int main(int argc, char *argv[])

{

#ifdef CAPTURE

  CvCapture* capture = cvCaptureFromCAM( 0 );

  if( !capture ) {

    fprintf( stderr, "ERROR: capture is NULL \n" );

    return -1;

  }

#endif

  // Create a window in which the captured images will be presented

  cvNamedWindow( "mywindow1", CV_WINDOW_AUTOSIZE );

  // Show the image captured from the camera in the window and repeat

  do {

    IplImage *image03;

#ifdef CAPTURE

    if(!cvGrabFrame(capture)){              // capture a frame 

      printf("Could not grab a frame\n\7");

      return -1;

    }

    IplImage *im_capture=cvRetrieveFrame(capture);           // retrieve the captured frame

    image03 = cvCreateImage(cvGetSize(im_capture), im_capture->depth, 1);

    cvCvtColor(im_capture, image03, CV_RGB2GRAY);

#else

    // load image and force it to be grayscale

    if ((image03 = cvLoadImage(argv[1], 0)) == 0) {

      fprintf(stderr, "Failed to load image.\n");

      return -1;

    }

#endif

    struct CenterP centers[100] = {0};

    int index = 0;

    cvSmooth( image03, image03, CV_GAUSSIAN, 9, 9 ); // smooth it, otherwise a lot of false circles may be detected

    CvMemStorage* storage = cvCreateMemStorage(0);

    CvSeq* circles = cvHoughCircles( image03, storage, CV_HOUGH_GRADIENT, 1, 1, 100, 43 );

    int i;

    for( i = 0; i < circles->total && index < 100; i++ )

    {

      float* p = (float*)cvGetSeqElem( circles, i );

      CvPoint center = cvPoint(cvRound(p[0]), cvRound(p[1]));

      int r = cvRound(p[2]);

      //cvCircle( image03, center, 3, CV_RGB(255,255,255), -1, 8, 0 );

      float dist = MIN_PADDING;

      int loc = index;

      int j;

      for (j = 0; j < index; j++)

      {

        int dx = centers[j].center.x-center.x;

        int dy = centers[j].center.y-center.y;

        float d = cvSqrt(dx*dx + dy*dy);

        if (d < dist)

        {

          dist = d;

          loc = j;

        }

      }

      int count = centers[loc].count;

      centers[loc].center.x = (centers[loc].center.x * count + center.x) / (count + 1);

      centers[loc].center.y = (centers[loc].center.y * count + center.y) / (count + 1);

      centers[loc].count++;

      if (loc == index) index++;

    }

    for (i = 0; i < index; i++)

    {

      cvCircle( image03, centers[i].center, 60, CV_RGB(255,255,255), 3, 8, 0 );

    }

    cvShowImage( "mywindow1", image03 );

    cvReleaseMemStorage(&storage);

    cvReleaseImage(&image03);

    //If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),

    //remove higher bits using AND operator

  } while((cvWaitKey(10) & 255) != 27);

#ifdef CAPTURE

  // Release the capture device housekeeping

  cvReleaseCapture( &capture );

#endif

  cvDestroyWindow( "mywindow1" );

  return 0;

}