root / trunk / code / projects / colonet / vision / vision.c @ 250
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/**
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* find the locations of each robot
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* based on opencv's sample program fitellipse.c by Denis Burenkov
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*
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* @author Rich Hong
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* @date 11/10/2007
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*/
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#ifdef _CH_
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#pragma package <opencv>
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#endif
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#ifndef _EiC
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#include "cv.h" |
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#include "highgui.h" |
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#endif
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#include <stdio.h> |
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#include <stdlib.h> |
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int slider_pos = 200; |
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#define MINH 100 //min threshold level |
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#define MAXH 150 //max threshold level |
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#define DEBUG 0 //Debug to find threshold level |
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// Load the source image. HighGUI use.
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IplImage *image02 = 0, *image03 = 0, *image04 = 0; |
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void process_image(int h); |
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void loop_image();
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struct CenterP {
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CvPoint center; |
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int count;
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}; |
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int main( int argc, char** argv ) { |
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const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg"; |
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// load image and force it to be grayscale
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if( (image03 = cvLoadImage(filename, 0)) == 0 ) return -1; |
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// Create the destination images
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image02 = cvCloneImage( image03 ); |
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image04 = cvCloneImage( image03 ); |
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if (DEBUG){
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// Create windows.
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cvNamedWindow("Source", 1); |
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// Show the image.
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cvShowImage("Source", image03);
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} |
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cvNamedWindow("Result", 1); |
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if (DEBUG){
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// Create toolbars. HighGUI use.
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cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image ); |
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} |
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if (!DEBUG) loop_image();
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if (DEBUG) process_image(0); |
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// Wait for a key stroke; the same function arranges events processing
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cvWaitKey(0);
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cvReleaseImage(&image02); |
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cvReleaseImage(&image03); |
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if (DEBUG) cvDestroyWindow("Source"); |
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cvDestroyWindow("Result");
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return 0; |
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} |
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void loop_image(){
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CvMemStorage* stor; |
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CvSeq* cont; |
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CvBox2D32f* box; |
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CvPoint* PointArray; |
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CvPoint2D32f* PointArray2D32f; |
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// Create dynamic structure and sequence.
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stor = cvCreateMemStorage(0);
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cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor); |
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struct CenterP bestc[100]; |
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int index=0; |
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int h;
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for (h=MINH;h<MAXH;h++){
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// Threshold the source image. This needful for cvFindContours().
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cvThreshold( image03, image02, h, 255, CV_THRESH_BINARY );
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// Find all contours.
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cvFindContours( image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0)); |
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// Clear images. IPL use.
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cvZero(image02); |
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cvZero(image04); |
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// This cycle draw all contours and approximate it by ellipses.
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for(;cont;cont = cont->h_next) {
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int i; // Indicator of cycle. |
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int count = cont->total; // This is number point in contour |
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CvPoint center; |
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CvSize size; |
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// Number point must be more than or equal to 6 (for cvFitEllipse_32f).
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if( count < 6 ) continue; |
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// Alloc memory for contour point set.
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PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
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PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
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// Alloc memory for ellipse data.
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box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
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// Get contour point set.
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cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ); |
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// Convert CvPoint set to CvBox2D32f set.
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for(i=0; i<count; i++) { |
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PointArray2D32f[i].x = (float)PointArray[i].x;
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PointArray2D32f[i].y = (float)PointArray[i].y;
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} |
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// Fits ellipse to current contour.
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cvFitEllipse(PointArray2D32f, count, box); |
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// Convert ellipse data from float to integer representation.
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center.x = cvRound(box->center.x); |
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center.y = cvRound(box->center.y); |
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size.width = cvRound(box->size.width*0.5); |
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size.height = cvRound(box->size.height*0.5); |
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box->angle = -box->angle; |
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if (size.width>10&&size.height>10&&size.width<20&&size.height<20){ |
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//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
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int found=0; |
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int j;
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for (j=0;j<index;j++) |
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if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9){ |
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bestc[j].count++; |
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found=1;
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break;
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} |
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if (!found){
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struct CenterP c;
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c.center=center; |
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c.count=1;
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bestc[index]=c; |
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index++; |
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} |
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} |
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// Free memory.
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free(PointArray); |
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free(PointArray2D32f); |
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free(box); |
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} |
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} |
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image04 = cvCloneImage( image03 ); |
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int i;
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for (i=0;i<index;i++){ |
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if (bestc[i].count>7){ |
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printf("%d,%d\n",bestc[i].center.x,bestc[i].center.y);
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cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0); |
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} |
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} |
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// Show image. HighGUI use.
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cvShowImage( "Result", image04 );
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} |
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// Define trackbar callback functon. This function find contours,
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// draw it and approximate it by ellipses.
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void process_image(int h) |
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{ |
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CvMemStorage* stor; |
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CvSeq* cont; |
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CvBox2D32f* box; |
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CvPoint* PointArray; |
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CvPoint2D32f* PointArray2D32f; |
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// Create dynamic structure and sequence.
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stor = cvCreateMemStorage(0);
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cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor); |
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// Threshold the source image. This needful for cvFindContours().
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cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
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// Find all contours.
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cvFindContours( image02, stor, &cont, sizeof(CvContour),
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CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0)); |
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// Clear images. IPL use.
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cvZero(image02); |
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cvZero(image04); |
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// This cycle draw all contours and approximate it by ellipses.
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for(;cont;cont = cont->h_next)
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{ |
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int i; // Indicator of cycle. |
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int count = cont->total; // This is number point in contour |
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CvPoint center; |
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CvSize size; |
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// Number point must be more than or equal to 6 (for cvFitEllipse_32f).
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if( count < 6 ) |
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continue;
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// Alloc memory for contour point set.
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PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
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PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
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// Alloc memory for ellipse data.
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box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
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// Get contour point set.
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cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ); |
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// Convert CvPoint set to CvBox2D32f set.
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for(i=0; i<count; i++) |
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{ |
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PointArray2D32f[i].x = (float)PointArray[i].x;
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PointArray2D32f[i].y = (float)PointArray[i].y;
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} |
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// Fits ellipse to current contour.
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cvFitEllipse(PointArray2D32f, count, box); |
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// Draw current contour.
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cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0)); |
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// Convert ellipse data from float to integer representation.
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center.x = cvRound(box->center.x); |
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center.y = cvRound(box->center.y); |
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size.width = cvRound(box->size.width*0.5); |
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size.height = cvRound(box->size.height*0.5); |
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box->angle = -box->angle; |
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if (size.width>10&&size.height>10&&size.width<20&&size.height<20){ |
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printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
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// Draw ellipse.
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cvEllipse(image04, center, size, |
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box->angle, 0, 360, |
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CV_RGB(0,0,255), 1, CV_AA, 0); |
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} |
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// Free memory.
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free(PointArray); |
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free(PointArray2D32f); |
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free(box); |
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} |
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// Show image. HighGUI use.
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cvShowImage( "Result", image04 );
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} |
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#ifdef _EiC
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main(1,"vision.c"); |
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#endif
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