Revision 710
Tweaked vision and various colonet fixes
| vision.c | ||
|---|---|---|
| 14 | 14 |
#include <stdio.h> |
| 15 | 15 |
#include <stdlib.h> |
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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 MINH 50 //min threshold level
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#define MAXH 75 //max threshold level
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| 19 | 19 |
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#define MIN_BOX_WIDTH 10 |
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#define MAX_BOX_WIDTH 20 |
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#define MIN_BOX_HEIGHT 10 |
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#define MAX_BOX_HEIGHT 20 |
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#define BEST_CENTER_PADDING_X 9 |
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#define BEST_CENTER_PADDING_Y 9 |
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#define ELLIPSE_COUNT_TO_BE_OBJECT 7 |
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#define DEBUG 0 //Debug to find threshold level |
| 21 | 31 |
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| 22 | 32 |
struct CenterP {
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| ... | ... | |
| 100 | 110 |
size.height = cvRound(box->size.height*0.5); |
| 101 | 111 |
box->angle = -box->angle; |
| 102 | 112 |
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if (size.width>10&&size.height>10&&size.width<20&&size.height<20){
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if (size.width > MIN_BOX_WIDTH && size.height > MIN_BOX_HEIGHT |
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&& size.width < MAX_BOX_WIDTH && size.height < MAX_BOX_HEIGHT){
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| 104 | 115 |
//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
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| 105 | 116 |
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| 106 | 117 |
int found=0, j; |
| 107 | 118 |
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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if (abs(bestc[j].center.x-center.x) < BEST_CENTER_PADDING_X |
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&& abs(bestc[j].center.y-center.y) < BEST_CENTER_PADDING_Y) {
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| 109 | 121 |
bestc[j].count++; |
| 110 | 122 |
found=1; |
| 111 | 123 |
break; |
| ... | ... | |
| 133 | 145 |
int count = 0; |
| 134 | 146 |
int i; |
| 135 | 147 |
for (i = 0; i < index; i++) {
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if (bestc[i].count > 7){
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if (bestc[i].count > ELLIPSE_COUNT_TO_BE_OBJECT){
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| 137 | 149 |
count++; |
| 138 | 150 |
} |
| 139 | 151 |
} |
| ... | ... | |
| 146 | 158 |
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| 147 | 159 |
int c = 0; |
| 148 | 160 |
for (i = 0; i < index; i++) {
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if (bestc[i].count > 7){
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if (bestc[i].count > ELLIPSE_COUNT_TO_BE_OBJECT){
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| 150 | 162 |
pos_array[c].x = bestc[i].center.x; |
| 151 | 163 |
pos_array[c].y = bestc[i].center.y; |
| 152 | 164 |
c++; |
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