Colony

/**

 * find the locations of each robot

 * based on opencv's sample program fitellipse.c by Denis Burenkov

 *

 * @author Rich Hong

 * @date 11/10/2007

 */

#ifdef _CH_

#pragma package <opencv>

#endif

#ifndef _EiC

#include "cv.h"

#include "highgui.h"

#endif

#include <stdio.h>

#include <stdlib.h>

int slider_pos = 200;

#define MINH 100 //min threshold level

#define MAXH 150 //max threshold level

#define DEBUG 0 //Debug to find threshold level

// Load the source image. HighGUI use.

IplImage *image02 = 0, *image03 = 0, *image04 = 0;

void process_image(int h);

void loop_image();

struct CenterP {

        CvPoint center;

        int count;

};

int main( int argc, char** argv ) {

    const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg";

    // load image and force it to be grayscale

    if( (image03 = cvLoadImage(filename, 0)) == 0 ) return -1;

    // Create the destination images

    image02 = cvCloneImage( image03 );

    image04 = cvCloneImage( image03 );

        if (DEBUG){

            // Create windows.

            cvNamedWindow("Source", 1);

            // Show the image.

            cvShowImage("Source", image03);

            cvNamedWindow("Result", 1);

        // Create toolbars. HighGUI use.

            cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image );

        }

        if (!DEBUG) loop_image();

        if (DEBUG) process_image(0);

    // Wait for a key stroke; the same function arranges events processing

    if (DEBUG) cvWaitKey(0);

    cvReleaseImage(&image02);

    cvReleaseImage(&image03);

            if (DEBUG){

                    cvDestroyWindow("Source");

                    cvDestroyWindow("Result");

        }

    return 0;

}

void loop_image(){

        CvMemStorage* stor;

    CvSeq* cont;

    CvBox2D32f* box;

    CvPoint* PointArray;

    CvPoint2D32f* PointArray2D32f;

    // Create dynamic structure and sequence.

    stor = cvCreateMemStorage(0);

    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);

        struct CenterP bestc[100];

        int index=0;

        int h;

        for (h=MINH;h<MAXH;h++){

                // Threshold the source image. This needful for cvFindContours().

            cvThreshold( image03, image02, h, 255, CV_THRESH_BINARY );

            // Find all contours.

            cvFindContours( image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));

            // Clear images. IPL use.

            cvZero(image02);

            cvZero(image04);

            // This cycle draw all contours and approximate it by ellipses.

            for(;cont;cont = cont->h_next) {

                int i; // Indicator of cycle.

                int count = cont->total; // This is number point in contour

                CvPoint center;

                CvSize size;

                // Number point must be more than or equal to 6 (for cvFitEllipse_32f).

                if( count < 6 ) continue;

                // Alloc memory for contour point set.

                PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );

                PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );

                // Alloc memory for ellipse data.

                box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));

                // Get contour point set.

                cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);

                // Convert CvPoint set to CvBox2D32f set.

                for(i=0; i<count; i++) {

                    PointArray2D32f[i].x = (float)PointArray[i].x;

                    PointArray2D32f[i].y = (float)PointArray[i].y;

                }

                // Fits ellipse to current contour.

                cvFitEllipse(PointArray2D32f, count, box);

                // Convert ellipse data from float to integer representation.

                center.x = cvRound(box->center.x);

                center.y = cvRound(box->center.y);

                size.width = cvRound(box->size.width*0.5);

                size.height = cvRound(box->size.height*0.5);

                box->angle = -box->angle;

                        if (size.width>10&&size.height>10&&size.width<20&&size.height<20){

                                //printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);

                                int found=0;

                                int j;

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

                                        if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9){

                                                bestc[j].count++;

                                                found=1;

                                                break;

                                        }

                                if (!found){

                                        struct CenterP c;

                                        c.center=center;

                                        c.count=1;

                                        bestc[index]=c;

                                        index++;

                                }

                        }

                // Free memory.

                free(PointArray);

                free(PointArray2D32f);

                      free(box);

                }

        }

        image04 = cvCloneImage( image03 );

        int i;

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

                if (bestc[i].count>7){

                        printf("%d,%d\n",bestc[i].center.x,bestc[i].center.y);

                        //cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0);

                }

        }

    // Show image. HighGUI use.

    //cvShowImage( "Result", image04 );

}

// Define trackbar callback functon. This function find contours,

// draw it and approximate it by ellipses.

void process_image(int h)

{

    CvMemStorage* stor;

    CvSeq* cont;

    CvBox2D32f* box;

    CvPoint* PointArray;

    CvPoint2D32f* PointArray2D32f;

    // Create dynamic structure and sequence.

    stor = cvCreateMemStorage(0);

    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);

    // Threshold the source image. This needful for cvFindContours().

    cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );

    // Find all contours.

    cvFindContours( image02, stor, &cont, sizeof(CvContour),

                    CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));

    // Clear images. IPL use.

    cvZero(image02);

    cvZero(image04);

    // This cycle draw all contours and approximate it by ellipses.

    for(;cont;cont = cont->h_next)

    {

        int i; // Indicator of cycle.

        int count = cont->total; // This is number point in contour

        CvPoint center;

        CvSize size;

        // Number point must be more than or equal to 6 (for cvFitEllipse_32f).

        if( count < 6 )

            continue;

        // Alloc memory for contour point set.

        PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );

        PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );

        // Alloc memory for ellipse data.

        box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));

        // Get contour point set.

        cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);

        // Convert CvPoint set to CvBox2D32f set.

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

        {

            PointArray2D32f[i].x = (float)PointArray[i].x;

            PointArray2D32f[i].y = (float)PointArray[i].y;

        }

        // Fits ellipse to current contour.

        cvFitEllipse(PointArray2D32f, count, box);

        // Draw current contour.

        cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));

        // Convert ellipse data from float to integer representation.

        center.x = cvRound(box->center.x);

        center.y = cvRound(box->center.y);

        size.width = cvRound(box->size.width*0.5);

        size.height = cvRound(box->size.height*0.5);

        box->angle = -box->angle;

                if (size.width>10&&size.height>10&&size.width<20&&size.height<20){

                printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);

        // Draw ellipse.

        cvEllipse(image04, center, size,

                  box->angle, 0, 360,

                  CV_RGB(0,0,255), 1, CV_AA, 0);

                }

        // Free memory.

        free(PointArray);

        free(PointArray2D32f);

        free(box);

    }

    // Show image. HighGUI use.

    cvShowImage( "Result", image04 );

}

#ifdef _EiC

main(1,"vision.c");

#endif