float mvContours::match_circle (IplImage* img, MvCircleVector* circle_vector, COLOR_TRIPLE color, int method) {
assert (img != NULL);
assert (img->nChannels == 1);
int n_contours = find_contour_and_check_errors(img);
if (n_contours < 1 || m_contours == NULL)
return -1;
bin_calc.start();
CvSeq* c_contour = m_contours;
int n_circles = 0;
// debug
//mvWindow window("contours");
// examine each contour, put the passing ones into the circle_vector
for (int C = 0; C < n_contours; C++, c_contour = c_contour->h_next) {
// debug
/*cvZero (img);
draw_contours (c_contour, img);
//window.showImage (img);
cvWaitKey(0);*/
// check that there are at least 6 points
if (c_contour->total < 6) {
continue;
}
// check the contour's area to make sure it isnt too small
double area = cvContourArea(c_contour);
if (area < img->width*img->height/600) {
DEBUG_PRINT ("Circle Fail: Contour too small!\n");
continue;
}
// do some kind of matching to ensure the contour is a circle
CvMoments moments;
cvContourMoments (c_contour, &moments);
cv::Moments cvmoments(moments);
double nu11 = cvmoments.nu11;
double nu20 = cvmoments.nu02;
double nu02 = cvmoments.nu20;
double nu21 = cvmoments.nu21;
double nu12 = cvmoments.nu12;
double nu03 = cvmoments.nu03;
double nu30 = cvmoments.nu30;
double r03 = fabs(nu30 / nu03);
r03 = (r03 > 1) ? r03 : 1.0/r03;
double r12 = fabs(nu12 / nu21);
r12 = (r12 > 1) ? r12 : 1.0/r12;
double r02 = fabs(nu02 / nu20);
r02 = (r02 > 1) ? r02 : 1.0/r02;
double r11 = fabs( MEAN2(nu02,nu20) / nu11);
double R = MEAN2(nu20,nu02) / std::max((MEAN2(nu21,nu12)), (MEAN2(nu30,nu03)));
bool pass = true;
pass = (r03 <= 25.0) && (r12 <= 12.0) && (r02 <= 12.0) && (r11 > 2.5) && (R > 25);
if (!pass) {
//DEBUG_PRINT ("Circle Moms: nu11=%lf, nu20=%lf, nu02=%lf, nu21=%lf, nu12=%lf, nu30=%lf, nu03=%lf\n", nu11, nu20, nu02, nu21, nu12, nu30, nu03);
DEBUG_PRINT ("Circle Fail: \tn30/n03=%3.1lf, n21/n12=%3.1lf, nu20/nu02=%3.1lf, r11=%3.1f, R=%3.1f!\n", r03, r12, r02, r11, R);
continue;
}
// get area and perimeter of the contour
//double perimeter = cvArcLength (c_contour, CV_WHOLE_SEQ, 1);
// get min enclosing circle and radius
CvPoint2D32f centroid32f;
float radius;
cvMinEnclosingCircle(c_contour, ¢roid32f, &radius);
if (radius > img->width/2 || radius < 0) {
continue;
}
// do checks on area and perimeter
double area_ratio = area / (CV_PI*radius*radius);
//double perimeter_ratio = perimeter / (2*CV_PI*radius);
if (area_ratio < 0.7) {
DEBUG_PRINT ("Circle Fail: Area: %6.2lf\n", area_ratio);
continue;
}
MvCircle circle;
circle.center.x = static_cast<int>(centroid32f.x);
circle.center.y = static_cast<int>(centroid32f.y);
circle.radius = radius;
circle.m1 = color.m1;
circle.m2 = color.m2;
circle.m3 = color.m3;
assign_color_to_shape (color, &circle);
circle.validity = area_ratio;
circle_vector->push_back(circle);
//cvCircle (img, cvPoint(x,y), static_cast<int>(radius), CV_RGB(50,50,50), 2);
n_circles++;
}
bin_calc.stop();
return n_circles;
}
bool ShapeFilter::findCirc(cv::Mat img){
//getting the contours
cv::Mat canny;
std::vector<std::vector<cv::Point> > contours;
std::vector<cv::Vec4i> hierarchy;
float radius;
cv::Point2f center;
this->radius.clear();
this->center.clear();
int thresh = 100;
// Detect edges using canny
Canny(img, canny, thresh, thresh*2, 3 );
// Find contours
findContours( canny, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0) );
int circlesFound = 0;
//constants
unsigned int minPoints = 6;
double minArea = 10;
float minRad = 100;
for (std::vector<cv::Point> co: contours){
if (co.size() < minPoints){
println("Circle Not enough Points");
continue;
}
double area = cv::contourArea(co);
if (area < minArea) {
println ("Circle not enough area " + std::to_string(area));
continue;
}
/*
/// Get the moments
std::vector<cv::Moments> mu(co.size() );
for( int i = 0; i < co.size(); i++ ){
mu[i] = moments( co[i], false );
}
/// Get the mass centers:
std::vector<cv::Point2f> mc( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ mc[i] = cv::Point2f( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 ); }
*/
cv::Moments cvmoments = moments(co, false);
double nu11 = cvmoments.nu11;
double nu20 = cvmoments.nu02;
double nu02 = cvmoments.nu20;
double nu21 = cvmoments.nu21;
double nu12 = cvmoments.nu12;
double nu03 = cvmoments.nu03;
double nu30 = cvmoments.nu30;
double r03 = fabs(nu30 / nu03);
r03 = (r03 > 1) ? r03 : 1.0/r03;
double r12 = fabs(nu12 / nu21);
r12 = (r12 > 1) ? r12 : 1.0/r12;
double r02 = fabs(nu02 / nu20);
r02 = (r02 > 1) ? r02 : 1.0/r02;
double r11 = fabs( MEAN2(nu02,nu20) / nu11);
double R = MEAN2(nu20,nu02) / std::max((MEAN2(nu21,nu12)), (MEAN2(nu30,nu03)));
bool pass = true;
pass = (r03 <= 25.0) && (r12 <= 12.0) && (r02 <= 12.0) && (r11 > 2.5) && (R > 25);
if (!pass){
println("Circle failed math test");
continue;
}
// get min enclosing circle and radius
//CvPoint2D32f centroid32f;
//cv::minEnclosingCircle(co, ¢roid32f, &radius);
cv::minEnclosingCircle(co, center, radius);
if (radius > minRad || radius < 0) {
println("Circle radius too small");
continue;
}
// do checks on area and perimeter
double area_ratio = area / (CV_PI*radius*radius);
//double perimeter_ratio = perimeter / (2*CV_PI*radius);
if (area_ratio < 0.7) {
println("Circle fail Area");
continue;
}
bool repeat = false;
//check if circle is found already
for (unsigned int i = 0; i < this->center.size(); i++){
cv::Point2f c = this->center[i];
if (std::abs(c.x-center.x) < 20 && std::abs(c.y - center.y) < 20){
repeat = true;
break;
}
}
if (!repeat){
//check if i found the number of circles requested
if (this->center.size() < max){
println("Found circle");
this->radius.push_back(radius);
this->center.push_back(center);
circlesFound++;
}else{
println("Already found enough circles");
}
}else{
println("Already found this circle");
}
}
return circlesFound != 0;
}
