/*F///////////////////////////////////////////////////////////////////////////////////////
// Name: icvContourFromContourTree
// Purpose:
// reconstracts contour from binary tree representation
// Context:
// Parameters:
// tree - pointer to the input binary tree representation
// storage - pointer to the current storage block
// contour - pointer to output contour object.
// criteria - criteria for the definition threshold value
// for the contour reconstracting (level or precision)
//F*/
CV_IMPL CvSeq*
cvContourFromContourTree( const CvContourTree* tree,
CvMemStorage* storage,
CvTermCriteria criteria )
{
CvSeq* contour = 0;
_CvTrianAttr **ptr_buf = 0; /* pointer to the pointer's buffer */
int *level_buf = 0;
int i_buf;
int lpt;
double area_all;
double threshold;
int cur_level;
int level;
int seq_flags;
char log_iter, log_eps;
int out_hearder_size;
_CvTrianAttr *tree_one = 0, tree_root; /* current vertex */
CvSeqReader reader;
CvSeqWriter writer;
CV_FUNCNAME("cvContourFromContourTree");
__BEGIN__;
if( !tree )
CV_ERROR( CV_StsNullPtr, "" );
if( !CV_IS_SEQ_POLYGON_TREE( tree ))
CV_ERROR_FROM_STATUS( CV_BADFLAG_ERR );
criteria = cvCheckTermCriteria( criteria, 0., 100 );
lpt = tree->total;
ptr_buf = NULL;
level_buf = NULL;
i_buf = 0;
cur_level = 0;
log_iter = (char) (criteria.type == CV_TERMCRIT_ITER ||
(criteria.type == CV_TERMCRIT_ITER + CV_TERMCRIT_EPS));
log_eps = (char) (criteria.type == CV_TERMCRIT_EPS ||
(criteria.type == CV_TERMCRIT_ITER + CV_TERMCRIT_EPS));
cvStartReadSeq( (CvSeq *) tree, &reader, 0 );
out_hearder_size = sizeof( CvContour );
seq_flags = CV_SEQ_POLYGON;
cvStartWriteSeq( seq_flags, out_hearder_size, sizeof( CvPoint ), storage, &writer );
ptr_buf = (_CvTrianAttr **) cvAlloc( lpt * sizeof( _CvTrianAttr * ));
if( ptr_buf == NULL )
CV_ERROR_FROM_STATUS( CV_OUTOFMEM_ERR );
if( log_iter )
{
level_buf = (int *) cvAlloc( lpt * (sizeof( int )));
if( level_buf == NULL )
CV_ERROR_FROM_STATUS( CV_OUTOFMEM_ERR );
}
memset( ptr_buf, 0, lpt * sizeof( _CvTrianAttr * ));
/* write the first tree root's point as a start point of the result contour */
CV_WRITE_SEQ_ELEM( tree->p1, writer );
/* write the second tree root"s point into buffer */
/* read the root of the tree */
CV_READ_SEQ_ELEM( tree_root, reader );
tree_one = &tree_root;
area_all = tree_one->area;
if( log_eps )
threshold = criteria.epsilon * area_all;
else
threshold = 10 * area_all;
if( log_iter )
level = criteria.max_iter;
else
level = -1;
/* contour from binary tree constraction */
while( i_buf >= 0 )
{
if( tree_one != NULL && (cur_level <= level || tree_one->area >= threshold) )
/* go to left sub tree for the vertex and save pointer to the right vertex */
/* into the buffer */
{
ptr_buf[i_buf] = tree_one;
if( log_iter )
{
level_buf[i_buf] = cur_level;
cur_level++;
}
i_buf++;
tree_one = tree_one->next_v1;
}
else
{
i_buf--;
if( i_buf >= 0 )
{
CvPoint pt = ptr_buf[i_buf]->pt;
CV_WRITE_SEQ_ELEM( pt, writer );
tree_one = ptr_buf[i_buf]->next_v2;
if( log_iter )
{
cur_level = level_buf[i_buf] + 1;
}
}
}
}
contour = cvEndWriteSeq( &writer );
cvBoundingRect( contour, 1 );
__CLEANUP__;
__END__;
cvFree( &level_buf );
cvFree( &ptr_buf );
return contour;
}
CV_IMPL CvBox2D
cvMinAreaRect2( const CvArr* array, CvMemStorage* storage )
{
CvMemStorage* temp_storage = 0;
CvBox2D box;
CvPoint2D32f* points = 0;
CV_FUNCNAME( "cvMinAreaRect2" );
memset(&box, 0, sizeof(box));
__BEGIN__;
int i, n;
CvSeqReader reader;
CvContour contour_header;
CvSeqBlock block;
CvSeq* ptseq = (CvSeq*)array;
CvPoint2D32f out[3];
if( CV_IS_SEQ(ptseq) )
{
if( !CV_IS_SEQ_POINT_SET(ptseq) &&
(CV_SEQ_KIND(ptseq) != CV_SEQ_KIND_CURVE || !CV_IS_SEQ_CONVEX(ptseq) ||
CV_SEQ_ELTYPE(ptseq) != CV_SEQ_ELTYPE_PPOINT ))
CV_ERROR( CV_StsUnsupportedFormat,
"Input sequence must consist of 2d points or pointers to 2d points" );
if( !storage )
storage = ptseq->storage;
}
else
{
CV_CALL( ptseq = cvPointSeqFromMat(
CV_SEQ_KIND_GENERIC, array, &contour_header, &block ));
}
if( storage )
{
CV_CALL( temp_storage = cvCreateChildMemStorage( storage ));
}
else
{
CV_CALL( temp_storage = cvCreateMemStorage(1 << 10));
}
if( !CV_IS_SEQ_CONVEX( ptseq ))
{
CV_CALL( ptseq = cvConvexHull2( ptseq, temp_storage, CV_CLOCKWISE, 1 ));
}
else if( !CV_IS_SEQ_POINT_SET( ptseq ))
{
CvSeqWriter writer;
if( !CV_IS_SEQ(ptseq->v_prev) || !CV_IS_SEQ_POINT_SET(ptseq->v_prev))
CV_ERROR( CV_StsBadArg,
"Convex hull must have valid pointer to point sequence stored in v_prev" );
cvStartReadSeq( ptseq, &reader );
cvStartWriteSeq( CV_SEQ_KIND_CURVE|CV_SEQ_FLAG_CONVEX|CV_SEQ_ELTYPE(ptseq->v_prev),
sizeof(CvContour), CV_ELEM_SIZE(ptseq->v_prev->flags),
temp_storage, &writer );
for( i = 0; i < ptseq->total; i++ )
{
CvPoint pt = **(CvPoint**)(reader.ptr);
CV_WRITE_SEQ_ELEM( pt, writer );
}
ptseq = cvEndWriteSeq( &writer );
}
n = ptseq->total;
CV_CALL( points = (CvPoint2D32f*)cvAlloc( n*sizeof(points[0]) ));
cvStartReadSeq( ptseq, &reader );
if( CV_SEQ_ELTYPE( ptseq ) == CV_32SC2 )
{
for( i = 0; i < n; i++ )
{
CvPoint pt;
CV_READ_SEQ_ELEM( pt, reader );
points[i].x = (float)pt.x;
points[i].y = (float)pt.y;
}
}
else
{
for( i = 0; i < n; i++ )
{
CV_READ_SEQ_ELEM( points[i], reader );
}
}
if( n > 2 )
{
icvRotatingCalipers( points, n, CV_CALIPERS_MINAREARECT, (float*)out );
box.center.x = out[0].x + (out[1].x + out[2].x)*0.5f;
box.center.y = out[0].y + (out[1].y + out[2].y)*0.5f;
box.size.height = (float)sqrt((double)out[1].x*out[1].x + (double)out[1].y*out[1].y);
box.size.width = (float)sqrt((double)out[2].x*out[2].x + (double)out[2].y*out[2].y);
box.angle = (float)atan2( -(double)out[1].y, (double)out[1].x );
}
else if( n == 2 )
{
box.center.x = (points[0].x + points[1].x)*0.5f;
box.center.y = (points[0].y + points[1].y)*0.5f;
double dx = points[1].x - points[0].x;
double dy = points[1].y - points[0].y;
box.size.height = (float)sqrt(dx*dx + dy*dy);
box.size.width = 0;
box.angle = (float)atan2( -dy, dx );
}
else
{
if( n == 1 )
box.center = points[0];
}
box.angle = (float)(box.angle*180/CV_PI);
__END__;
cvReleaseMemStorage( &temp_storage );
cvFree( &points );
return box;
}
static CvSeq*
icvGetComponent(uchar* img, int step, CvRect rect,
CvMemStorage* storage) {
const char nbd = 4;
int deltas[16];
int x, y;
CvSeq* exterior = 0;
char* ptr;
/* initialize local state */
CV_INIT_3X3_DELTAS(deltas, step, 1);
memcpy(deltas + 8, deltas, 8 * sizeof(deltas[0]));
ptr = (char*)(img + step * rect.y);
rect.width += rect.x;
rect.height += rect.y;
for (y = rect.y; y < rect.height; y++, ptr += step) {
int prev = ptr[rect.x - 1] & -2;
for (x = rect.x; x < rect.width; x++) {
int p = ptr[x] & -2;
//assert( exterior || ((p | prev) & -4) == 0 );
if (p != prev) {
CvSeq* seq = 0;
int is_hole = 0;
CvSeqWriter writer;
char* i0, *i1, *i3, *i4 = 0;
int prev_s = -1, s, s_end;
CvPoint pt = { x, y };
if (!(prev == 0 && p == 2)) { /* if not external contour */
/* check hole */
if (p != 0 || prev < 1) {
prev = p;
continue;
}
is_hole = 1;
if (!exterior) {
assert(0);
return 0;
}
}
cvStartWriteSeq(CV_SEQ_CONTOUR | (is_hole ? CV_SEQ_FLAG_HOLE : 0),
sizeof(CvContour), sizeof(CvPoint), storage, &writer);
s_end = s = is_hole ? 0 : 4;
i0 = ptr + x - is_hole;
do {
s = (s - 1) & 7;
i1 = i0 + deltas[s];
if ((*i1 & -2) != 0) {
break;
}
} while (s != s_end);
if (s == s_end) { /* single pixel domain */
*i0 = (char)(nbd | -128);
CV_WRITE_SEQ_ELEM(pt, writer);
} else {
i3 = i0;
prev_s = s ^ 4;
/* follow border */
for (;;) {
s_end = s;
for (;;) {
i4 = i3 + deltas[++s];
if ((*i4 & -2) != 0) {
break;
}
}
s &= 7;
/* check "right" bound */
if ((unsigned)(s - 1) < (unsigned) s_end) {
*i3 = (char)(nbd | -128);
} else if (*i3 > 0) {
*i3 = nbd;
}
if (s != prev_s) {
CV_WRITE_SEQ_ELEM(pt, writer);
prev_s = s;
}
pt.x += icvCodeDeltas[s].x;
pt.y += icvCodeDeltas[s].y;
if (i4 == i0 && i3 == i1) {
break;
}
i3 = i4;
s = (s + 4) & 7;
} /* end of border following loop */
}
seq = cvEndWriteSeq(&writer);
cvContourBoundingRect(seq, 1);
if (!is_hole) {
exterior = seq;
} else {
seq->v_prev = exterior;
seq->h_next = exterior->v_next;
if (seq->h_next) {
seq->h_next->h_prev = seq;
}
exterior->v_next = seq;
}
prev = ptr[x] & -2;
}
}
}
return exterior;
}
/*F///////////////////////////////////////////////////////////////////////////////////////
// Name: icvCreateContourTree
// Purpose:
// Create binary tree representation for the contour
// Context:
// Parameters:
// contour - pointer to input contour object.
// storage - pointer to the current storage block
// tree - output pointer to the binary tree representation
// threshold - threshold for the binary tree building
//
//F*/
static CvStatus
icvCreateContourTree( const CvSeq * contour, CvMemStorage * storage,
CvContourTree ** tree, double threshold )
{
CvPoint *pt_p; /* pointer to previos points */
CvPoint *pt_n; /* pointer to next points */
CvPoint *pt1, *pt2; /* pointer to current points */
CvPoint t, tp1, tp2, tp3, tn1, tn2, tn3;
int lpt, flag, i, j, i_tree, j_1, j_3, i_buf;
double s, sp1, sp2, sn1, sn2, s_c, sp1_c, sp2_c, sn1_c, sn2_c, h, hp1, hp2, hn1, hn2,
a, ap1, ap2, an1, an2, b, bp1, bp2, bn1, bn2;
double a_s_c, a_sp1_c;
_CvTrianAttr **ptr_p, **ptr_n, **ptr1, **ptr2; /* pointers to pointers of triangles */
_CvTrianAttr *cur_adr;
int *num_p, *num_n, *num1, *num2; /* numbers of input contour points */
int nm, nmp1, nmp2, nmp3, nmn1, nmn2, nmn3;
int seq_flags = 1, i_end, prev_null, prev2_null;
double koef = 1.5;
double eps = 1.e-7;
double e;
CvStatus status;
int hearder_size;
_CvTrianAttr tree_one, tree_two, *tree_end, *tree_root;
CvSeqWriter writer;
assert( contour != NULL && contour->total >= 4 );
status = CV_OK;
if( contour == NULL )
return CV_NULLPTR_ERR;
if( contour->total < 4 )
return CV_BADSIZE_ERR;
if( !CV_IS_SEQ_POLYGON( contour ))
return CV_BADFLAG_ERR;
/* Convert Sequence to array */
lpt = contour->total;
pt_p = pt_n = NULL;
num_p = num_n = NULL;
ptr_p = ptr_n = ptr1 = ptr2 = NULL;
tree_end = NULL;
pt_p = (CvPoint *) cvAlloc( lpt * sizeof( CvPoint ));
pt_n = (CvPoint *) cvAlloc( lpt * sizeof( CvPoint ));
num_p = (int *) cvAlloc( lpt * sizeof( int ));
num_n = (int *) cvAlloc( lpt * sizeof( int ));
hearder_size = sizeof( CvContourTree );
seq_flags = CV_SEQ_POLYGON_TREE;
cvStartWriteSeq( seq_flags, hearder_size, sizeof( _CvTrianAttr ), storage, &writer );
ptr_p = (_CvTrianAttr **) cvAlloc( lpt * sizeof( _CvTrianAttr * ));
ptr_n = (_CvTrianAttr **) cvAlloc( lpt * sizeof( _CvTrianAttr * ));
memset( ptr_p, 0, lpt * sizeof( _CvTrianAttr * ));
memset( ptr_n, 0, lpt * sizeof( _CvTrianAttr * ));
if( pt_p == NULL || pt_n == NULL )
return CV_OUTOFMEM_ERR;
if( ptr_p == NULL || ptr_n == NULL )
return CV_OUTOFMEM_ERR;
/* write fild for the binary tree root */
/* start_writer = writer; */
tree_one.pt.x = tree_one.pt.y = 0;
tree_one.sign = 0;
tree_one.area = 0;
tree_one.r1 = tree_one.r2 = 0;
tree_one.next_v1 = tree_one.next_v2 = tree_one.prev_v = NULL;
CV_WRITE_SEQ_ELEM( tree_one, writer );
tree_root = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( cvCvtSeqToArray( contour, (char *) pt_p ) == (char *) contour )
return CV_BADPOINT_ERR;
for( i = 0; i < lpt; i++ )
num_p[i] = i;
i = lpt;
flag = 0;
i_tree = 0;
e = 20.; /* initial threshold value */
ptr1 = ptr_p;
ptr2 = ptr_n;
pt1 = pt_p;
pt2 = pt_n;
num1 = num_p;
num2 = num_n;
/* binary tree constraction */
while( i > 4 )
{
if( flag == 0 )
{
ptr1 = ptr_p;
ptr2 = ptr_n;
pt1 = pt_p;
pt2 = pt_n;
num1 = num_p;
num2 = num_n;
flag = 1;
}
else
{
ptr1 = ptr_n;
ptr2 = ptr_p;
pt1 = pt_n;
pt2 = pt_p;
num1 = num_n;
num2 = num_p;
flag = 0;
}
t = pt1[0];
nm = num1[0];
tp1 = pt1[i - 1];
nmp1 = num1[i - 1];
tp2 = pt1[i - 2];
nmp2 = num1[i - 2];
tp3 = pt1[i - 3];
nmp3 = num1[i - 3];
tn1 = pt1[1];
nmn1 = num1[1];
tn2 = pt1[2];
nmn2 = num1[2];
i_buf = 0;
i_end = -1;
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, t, tp1, nmp1, tn1, nmn1, &s, &s_c, &h, &a,
&b ));
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, tp1, tp2, nmp2, t, nm, &sp1, &sp1_c, &hp1,
&ap1, &bp1 ));
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, tp2, tp3, nmp3, tp1, nmp1, &sp2, &sp2_c, &hp2,
&ap2, &bp2 ));
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, tn1, t, nm, tn2, nmn2, &sn1, &sn1_c, &hn1,
&an1, &bn1 ));
j_3 = 3;
prev_null = prev2_null = 0;
for( j = 0; j < i; j++ )
{
tn3 = pt1[j_3];
nmn3 = num1[j_3];
if( j == 0 )
j_1 = i - 1;
else
j_1 = j - 1;
CV_MATCH_CHECK( status, icvCalcTriAttr( contour, tn2, tn1, nmn1, tn3, nmn3,
&sn2, &sn2_c, &hn2, &an2, &bn2 ));
if( (s_c < sp1_c && s_c < sp2_c && s_c <= sn1_c && s_c <= sn2_c && s_c < e) ||
(s_c == sp1_c && s_c <= sp2_c || s_c == sp2_c && s_c <= sp1_c) && s_c <= sn1_c
&& s_c <= sn2_c && s_c < e && j > 1 && prev2_null == 0 || (s_c < eps && j > 0
&& prev_null == 0) )
{
prev_null = prev2_null = 1;
if( s_c < threshold )
{
if( ptr1[j_1] == NULL && ptr1[j] == NULL )
{
if( i_buf > 0 )
ptr2[i_buf - 1] = NULL;
else
i_end = 0;
}
else
{
/* form next vertex */
tree_one.pt = t;
tree_one.sign = (char) (CV_SIGN( s ));
tree_one.r1 = h / a;
tree_one.r2 = b / a;
tree_one.area = fabs( s );
tree_one.next_v1 = ptr1[j_1];
tree_one.next_v2 = ptr1[j];
CV_WRITE_SEQ_ELEM( tree_one, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr1[j_1] != NULL )
ptr1[j_1]->prev_v = cur_adr;
if( ptr1[j] != NULL )
ptr1[j]->prev_v = cur_adr;
if( i_buf > 0 )
ptr2[i_buf - 1] = cur_adr;
else
{
tree_end = (_CvTrianAttr *) writer.ptr;
i_end = 1;
}
i_tree++;
}
}
else
/* form next vertex */
{
tree_one.pt = t;
tree_one.sign = (char) (CV_SIGN( s ));
tree_one.area = fabs( s );
tree_one.r1 = h / a;
tree_one.r2 = b / a;
tree_one.next_v1 = ptr1[j_1];
tree_one.next_v2 = ptr1[j];
CV_WRITE_SEQ_ELEM( tree_one, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr1[j_1] != NULL )
ptr1[j_1]->prev_v = cur_adr;
if( ptr1[j] != NULL )
ptr1[j]->prev_v = cur_adr;
if( i_buf > 0 )
ptr2[i_buf - 1] = cur_adr;
else
{
tree_end = cur_adr;
i_end = 1;
}
i_tree++;
}
}
else
/* the current triangle is'not LMIAT */
{
prev_null = 0;
switch (prev2_null)
{
case 0:
break;
case 1:
{
prev2_null = 2;
break;
}
case 2:
{
prev2_null = 0;
break;
}
}
if( j != i - 1 || i_end == -1 )
ptr2[i_buf] = ptr1[j];
else if( i_end == 0 )
ptr2[i_buf] = NULL;
else
ptr2[i_buf] = tree_end;
pt2[i_buf] = t;
num2[i_buf] = num1[j];
i_buf++;
}
/* go to next vertex */
tp3 = tp2;
tp2 = tp1;
tp1 = t;
t = tn1;
tn1 = tn2;
tn2 = tn3;
nmp3 = nmp2;
nmp2 = nmp1;
nmp1 = nm;
nm = nmn1;
nmn1 = nmn2;
nmn2 = nmn3;
sp2 = sp1;
sp1 = s;
s = sn1;
sn1 = sn2;
sp2_c = sp1_c;
sp1_c = s_c;
s_c = sn1_c;
sn1_c = sn2_c;
ap2 = ap1;
ap1 = a;
a = an1;
an1 = an2;
bp2 = bp1;
bp1 = b;
b = bn1;
bn1 = bn2;
hp2 = hp1;
hp1 = h;
h = hn1;
hn1 = hn2;
j_3++;
if( j_3 >= i )
j_3 = 0;
}
i = i_buf;
e = e * koef;
}
/* constract tree root */
if( i != 4 )
return CV_BADFACTOR_ERR;
t = pt2[0];
tn1 = pt2[1];
tn2 = pt2[2];
tp1 = pt2[3];
nm = num2[0];
nmn1 = num2[1];
nmn2 = num2[2];
nmp1 = num2[3];
/* first pair of the triangles */
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, t, tp1, nmp1, tn1, nmn1, &s, &s_c, &h, &a, &b ));
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, tn2, tn1, nmn1, tp1, nmp1, &sn2, &sn2_c, &hn2,
&an2, &bn2 ));
/* second pair of the triangles */
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, tn1, t, nm, tn2, nmn2, &sn1, &sn1_c, &hn1, &an1,
&bn1 ));
CV_MATCH_CHECK( status,
icvCalcTriAttr( contour, tp1, tn2, nmn2, t, nm, &sp1, &sp1_c, &hp1, &ap1,
&bp1 ));
a_s_c = fabs( s_c - sn2_c );
a_sp1_c = fabs( sp1_c - sn1_c );
if( a_s_c > a_sp1_c )
/* form child vertexs for the root */
{
tree_one.pt = t;
tree_one.sign = (char) (CV_SIGN( s ));
tree_one.area = fabs( s );
tree_one.r1 = h / a;
tree_one.r2 = b / a;
tree_one.next_v1 = ptr2[3];
tree_one.next_v2 = ptr2[0];
tree_two.pt = tn2;
tree_two.sign = (char) (CV_SIGN( sn2 ));
tree_two.area = fabs( sn2 );
tree_two.r1 = hn2 / an2;
tree_two.r2 = bn2 / an2;
tree_two.next_v1 = ptr2[1];
tree_two.next_v2 = ptr2[2];
CV_WRITE_SEQ_ELEM( tree_one, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( s_c > sn2_c )
{
if( ptr2[3] != NULL )
ptr2[3]->prev_v = cur_adr;
if( ptr2[0] != NULL )
ptr2[0]->prev_v = cur_adr;
ptr1[0] = cur_adr;
i_tree++;
CV_WRITE_SEQ_ELEM( tree_two, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr2[1] != NULL )
ptr2[1]->prev_v = cur_adr;
if( ptr2[2] != NULL )
ptr2[2]->prev_v = cur_adr;
ptr1[1] = cur_adr;
i_tree++;
pt1[0] = tp1;
pt1[1] = tn1;
}
else
{
CV_WRITE_SEQ_ELEM( tree_two, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr2[1] != NULL )
ptr2[1]->prev_v = cur_adr;
if( ptr2[2] != NULL )
ptr2[2]->prev_v = cur_adr;
ptr1[0] = cur_adr;
i_tree++;
CV_WRITE_SEQ_ELEM( tree_one, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr2[3] != NULL )
ptr2[3]->prev_v = cur_adr;
if( ptr2[0] != NULL )
ptr2[0]->prev_v = cur_adr;
ptr1[1] = cur_adr;
i_tree++;
pt1[0] = tn1;
pt1[1] = tp1;
}
}
else
{
tree_one.pt = tp1;
tree_one.sign = (char) (CV_SIGN( sp1 ));
tree_one.area = fabs( sp1 );
tree_one.r1 = hp1 / ap1;
tree_one.r2 = bp1 / ap1;
tree_one.next_v1 = ptr2[2];
tree_one.next_v2 = ptr2[3];
tree_two.pt = tn1;
tree_two.sign = (char) (CV_SIGN( sn1 ));
tree_two.area = fabs( sn1 );
tree_two.r1 = hn1 / an1;
tree_two.r2 = bn1 / an1;
tree_two.next_v1 = ptr2[0];
tree_two.next_v2 = ptr2[1];
CV_WRITE_SEQ_ELEM( tree_one, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( sp1_c > sn1_c )
{
if( ptr2[2] != NULL )
ptr2[2]->prev_v = cur_adr;
if( ptr2[3] != NULL )
ptr2[3]->prev_v = cur_adr;
ptr1[0] = cur_adr;
i_tree++;
CV_WRITE_SEQ_ELEM( tree_two, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr2[0] != NULL )
ptr2[0]->prev_v = cur_adr;
if( ptr2[1] != NULL )
ptr2[1]->prev_v = cur_adr;
ptr1[1] = cur_adr;
i_tree++;
pt1[0] = tn2;
pt1[1] = t;
}
else
{
CV_WRITE_SEQ_ELEM( tree_two, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr2[0] != NULL )
ptr2[0]->prev_v = cur_adr;
if( ptr2[1] != NULL )
ptr2[1]->prev_v = cur_adr;
ptr1[0] = cur_adr;
i_tree++;
CV_WRITE_SEQ_ELEM( tree_one, writer );
cur_adr = (_CvTrianAttr *) (writer.ptr - writer.seq->elem_size);
if( ptr2[2] != NULL )
ptr2[2]->prev_v = cur_adr;
if( ptr2[3] != NULL )
ptr2[3]->prev_v = cur_adr;
ptr1[1] = cur_adr;
i_tree++;
pt1[0] = t;
pt1[1] = tn2;
}
}
/* form root */
s = cvContourArea( contour );
tree_root->pt = pt1[1];
tree_root->sign = 0;
tree_root->area = fabs( s );
tree_root->r1 = 0;
tree_root->r2 = 0;
tree_root->next_v1 = ptr1[0];
tree_root->next_v2 = ptr1[1];
tree_root->prev_v = NULL;
ptr1[0]->prev_v = (_CvTrianAttr *) tree_root;
ptr1[1]->prev_v = (_CvTrianAttr *) tree_root;
/* write binary tree root */
/* CV_WRITE_SEQ_ELEM (tree_one, start_writer); */
i_tree++;
/* create Sequence hearder */
*((CvSeq **) tree) = cvEndWriteSeq( &writer );
/* write points for the main segment into sequence header */
(*tree)->p1 = pt1[0];
M_END:
cvFree( &ptr_n );
cvFree( &ptr_p );
cvFree( &num_n );
cvFree( &num_p );
cvFree( &pt_n );
cvFree( &pt_p );
return status;
}
static int
icvFindContoursInInterval( const CvArr* src,
/*int minValue, int maxValue,*/
CvMemStorage* storage,
CvSeq** result,
int contourHeaderSize )
{
int count = 0;
CvMemStorage* storage00 = 0;
CvMemStorage* storage01 = 0;
CvSeq* first = 0;
CV_FUNCNAME( "icvFindContoursInInterval" );
__BEGIN__;
int i, j, k, n;
uchar* src_data = 0;
int img_step = 0;
CvSize img_size;
int connect_flag;
int lower_total;
int upper_total;
int all_total;
CvSeq* runs;
CvLinkedRunPoint tmp;
CvLinkedRunPoint* tmp_prev;
CvLinkedRunPoint* upper_line = 0;
CvLinkedRunPoint* lower_line = 0;
CvLinkedRunPoint* last_elem;
CvLinkedRunPoint* upper_run = 0;
CvLinkedRunPoint* lower_run = 0;
CvLinkedRunPoint* prev_point = 0;
CvSeqWriter writer_ext;
CvSeqWriter writer_int;
CvSeqWriter writer;
CvSeqReader reader;
CvSeq* external_contours;
CvSeq* internal_contours;
CvSeq* prev = 0;
if( !storage )
CV_ERROR( CV_StsNullPtr, "NULL storage pointer" );
if( !result )
CV_ERROR( CV_StsNullPtr, "NULL double CvSeq pointer" );
if( contourHeaderSize < (int)sizeof(CvContour))
CV_ERROR( CV_StsBadSize, "Contour header size must be >= sizeof(CvContour)" );
CV_CALL( storage00 = cvCreateChildMemStorage(storage));
CV_CALL( storage01 = cvCreateChildMemStorage(storage));
{
CvMat stub, *mat;
CV_CALL( mat = cvGetMat( src, &stub ));
if( !CV_IS_MASK_ARR(mat))
CV_ERROR( CV_StsBadArg, "Input array must be 8uC1 or 8sC1" );
src_data = mat->data.ptr;
img_step = mat->step;
img_size = cvGetMatSize( mat );
}
// Create temporary sequences
runs = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvLinkedRunPoint), storage00 );
cvStartAppendToSeq( runs, &writer );
cvStartWriteSeq( 0, sizeof(CvSeq), sizeof(CvLinkedRunPoint*), storage01, &writer_ext );
cvStartWriteSeq( 0, sizeof(CvSeq), sizeof(CvLinkedRunPoint*), storage01, &writer_int );
tmp_prev = &(tmp);
tmp_prev->next = 0;
tmp_prev->link = 0;
// First line. None of runs is binded
tmp.pt.y = 0;
i = 0;
CV_WRITE_SEQ_ELEM( tmp, writer );
upper_line = (CvLinkedRunPoint*)CV_GET_WRITTEN_ELEM( writer );
tmp_prev = upper_line;
for( j = 0; j < img_size.width; )
{
for( ; j < img_size.width && !ICV_IS_COMPONENT_POINT(src_data[j]); j++ )
;
if( j == img_size.width )
break;
tmp.pt.x = j;
CV_WRITE_SEQ_ELEM( tmp, writer );
tmp_prev->next = (CvLinkedRunPoint*)CV_GET_WRITTEN_ELEM( writer );
tmp_prev = tmp_prev->next;
for( ; j < img_size.width && ICV_IS_COMPONENT_POINT(src_data[j]); j++ )
;
tmp.pt.x = j-1;
CV_WRITE_SEQ_ELEM( tmp, writer );
tmp_prev->next = (CvLinkedRunPoint*)CV_GET_WRITTEN_ELEM( writer );
tmp_prev->link = tmp_prev->next;
// First point of contour
CV_WRITE_SEQ_ELEM( tmp_prev, writer_ext );
tmp_prev = tmp_prev->next;
}
cvFlushSeqWriter( &writer );
upper_line = upper_line->next;
upper_total = runs->total - 1;
last_elem = tmp_prev;
tmp_prev->next = 0;
for( i = 1; i < img_size.height; i++ )
{
//------// Find runs in next line
src_data += img_step;
tmp.pt.y = i;
all_total = runs->total;
for( j = 0; j < img_size.width; )
{
for( ; j < img_size.width && !ICV_IS_COMPONENT_POINT(src_data[j]); j++ )
;
if( j == img_size.width ) break;
tmp.pt.x = j;
CV_WRITE_SEQ_ELEM( tmp, writer );
tmp_prev->next = (CvLinkedRunPoint*)CV_GET_WRITTEN_ELEM( writer );
tmp_prev = tmp_prev->next;
for( ; j < img_size.width && ICV_IS_COMPONENT_POINT(src_data[j]); j++ )
;
tmp.pt.x = j-1;
CV_WRITE_SEQ_ELEM( tmp, writer );
tmp_prev = tmp_prev->next = (CvLinkedRunPoint*)CV_GET_WRITTEN_ELEM( writer );
}//j
cvFlushSeqWriter( &writer );
lower_line = last_elem->next;
lower_total = runs->total - all_total;
last_elem = tmp_prev;
tmp_prev->next = 0;
//------//
//------// Find links between runs of lower_line and upper_line
upper_run = upper_line;
lower_run = lower_line;
connect_flag = ICV_SINGLE;
for( k = 0, n = 0; k < upper_total/2 && n < lower_total/2; )
{
switch( connect_flag )
{
case ICV_SINGLE:
if( upper_run->next->pt.x < lower_run->next->pt.x )
{
if( upper_run->next->pt.x >= lower_run->pt.x -1 )
{
lower_run->link = upper_run;
connect_flag = ICV_CONNECTING_ABOVE;
prev_point = upper_run->next;
}
else
upper_run->next->link = upper_run;
k++;
upper_run = upper_run->next->next;
}
else
{
if( upper_run->pt.x <= lower_run->next->pt.x +1 )
{
lower_run->link = upper_run;
connect_flag = ICV_CONNECTING_BELOW;
prev_point = lower_run->next;
}
else
{
lower_run->link = lower_run->next;
// First point of contour
CV_WRITE_SEQ_ELEM( lower_run, writer_ext );
}
n++;
lower_run = lower_run->next->next;
}
break;
case ICV_CONNECTING_ABOVE:
if( upper_run->pt.x > lower_run->next->pt.x +1 )
{
prev_point->link = lower_run->next;
connect_flag = ICV_SINGLE;
n++;
lower_run = lower_run->next->next;
}
else
{
prev_point->link = upper_run;
if( upper_run->next->pt.x < lower_run->next->pt.x )
{
k++;
prev_point = upper_run->next;
upper_run = upper_run->next->next;
}
else
{
connect_flag = ICV_CONNECTING_BELOW;
prev_point = lower_run->next;
n++;
lower_run = lower_run->next->next;
}
}
break;
case ICV_CONNECTING_BELOW:
if( lower_run->pt.x > upper_run->next->pt.x +1 )
{
upper_run->next->link = prev_point;
connect_flag = ICV_SINGLE;
k++;
upper_run = upper_run->next->next;
}
else
{
// First point of contour
CV_WRITE_SEQ_ELEM( lower_run, writer_int );
lower_run->link = prev_point;
if( lower_run->next->pt.x < upper_run->next->pt.x )
{
n++;
prev_point = lower_run->next;
lower_run = lower_run->next->next;
}
else
{
connect_flag = ICV_CONNECTING_ABOVE;
k++;
prev_point = upper_run->next;
upper_run = upper_run->next->next;
}
}
break;
}
}// k, n
for( ; n < lower_total/2; n++ )
{
if( connect_flag != ICV_SINGLE )
{
prev_point->link = lower_run->next;
connect_flag = ICV_SINGLE;
lower_run = lower_run->next->next;
continue;
}
lower_run->link = lower_run->next;
//First point of contour
CV_WRITE_SEQ_ELEM( lower_run, writer_ext );
lower_run = lower_run->next->next;
}
for( ; k < upper_total/2; k++ )
{
if( connect_flag != ICV_SINGLE )
{
upper_run->next->link = prev_point;
connect_flag = ICV_SINGLE;
upper_run = upper_run->next->next;
continue;
}
upper_run->next->link = upper_run;
upper_run = upper_run->next->next;
}
upper_line = lower_line;
upper_total = lower_total;
}//i
upper_run = upper_line;
//the last line of image
for( k = 0; k < upper_total/2; k++ )
{
upper_run->next->link = upper_run;
upper_run = upper_run->next->next;
}
//------//
//------//Find end read contours
external_contours = cvEndWriteSeq( &writer_ext );
internal_contours = cvEndWriteSeq( &writer_int );
for( k = 0; k < 2; k++ )
{
CvSeq* contours = k == 0 ? external_contours : internal_contours;
cvStartReadSeq( contours, &reader );
for( j = 0; j < contours->total; j++, count++ )
{
CvLinkedRunPoint* p_temp;
CvLinkedRunPoint* p00;
CvLinkedRunPoint* p01;
CvSeq* contour;
CV_READ_SEQ_ELEM( p00, reader );
p01 = p00;
if( !p00->link )
continue;
cvStartWriteSeq( CV_SEQ_ELTYPE_POINT | CV_SEQ_POLYLINE | CV_SEQ_FLAG_CLOSED,
contourHeaderSize, sizeof(CvPoint), storage, &writer );
do
{
CV_WRITE_SEQ_ELEM( p00->pt, writer );
p_temp = p00;
p00 = p00->link;
p_temp->link = 0;
}
while( p00 != p01 );
contour = cvEndWriteSeq( &writer );
cvBoundingRect( contour, 1 );
if( k != 0 )
contour->flags |= CV_SEQ_FLAG_HOLE;
if( !first )
prev = first = contour;
else
{
contour->h_prev = prev;
prev = prev->h_next = contour;
}
}
}
__END__;
if( !first )
count = -1;
if( result )
*result = first;
cvReleaseMemStorage(&storage00);
cvReleaseMemStorage(&storage01);
return count;
}
static CvStatus
icvFindDominantPointsIPAN( CvSeq * contour,
CvMemStorage * storage,
CvSeq ** corners, int dmin2, int dmax2, int dneigh2, float amax )
{
CvStatus status = CV_OK;
/* variables */
int n = contour->total;
float *sharpness;
float *distance;
icvPointInfo *ptInf;
int i, j, k;
CvSeqWriter writer;
float mincos = (float) cos( 3.14159265359 * amax / 180 );
/* check bad arguments */
if( contour == NULL )
return CV_NULLPTR_ERR;
if( storage == NULL )
return CV_NULLPTR_ERR;
if( corners == NULL )
return CV_NULLPTR_ERR;
if( dmin2 < 0 )
return CV_BADSIZE_ERR;
if( dmax2 < dmin2 )
return CV_BADSIZE_ERR;
if( (dneigh2 > dmax2) || (dneigh2 < 0) )
return CV_BADSIZE_ERR;
if( (amax < 0) || (amax > 180) )
return CV_BADSIZE_ERR;
sharpness = (float *) cvAlloc( n * sizeof( float ));
distance = (float *) cvAlloc( n * sizeof( float ));
ptInf = (icvPointInfo *) cvAlloc( n * sizeof( icvPointInfo ));
/*****************************************************************************************/
/* First pass */
/*****************************************************************************************/
if( CV_IS_SEQ_CHAIN_CONTOUR( contour ))
{
CvChainPtReader reader;
cvStartReadChainPoints( (CvChain *) contour, &reader );
for( i = 0; i < n; i++ )
{
CV_READ_CHAIN_POINT( ptInf[i].pt, reader );
}
}
else if( CV_IS_SEQ_POLYGON( contour ))
{
CvSeqReader reader;
cvStartReadSeq( contour, &reader, 0 );
for( i = 0; i < n; i++ )
{
CV_READ_SEQ_ELEM( ptInf[i].pt, reader );
}
}
else
{
return CV_BADFLAG_ERR;
}
for( i = 0; i < n; i++ )
{
/* find nearest suitable points
which satisfy distance constraint >dmin */
int left_near = 0;
int right_near = 0;
int left_far, right_far;
float dist_l = 0;
float dist_r = 0;
int i_plus = 0;
int i_minus = 0;
float max_cos_alpha;
/* find right minimum */
while( dist_r < dmin2 )
{
float dx, dy;
int ind;
if( i_plus >= n )
goto error;
right_near = i_plus;
if( dist_r < dneigh2 )
ptInf[i].right_neigh = i_plus;
i_plus++;
ind = (i + i_plus) % n;
dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x);
dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y);
dist_r = dx * dx + dy * dy;
}
/* find right maximum */
while( dist_r <= dmax2 )
{
float dx, dy;
int ind;
if( i_plus >= n )
goto error;
distance[(i + i_plus) % n] = cvSqrt( dist_r );
if( dist_r < dneigh2 )
ptInf[i].right_neigh = i_plus;
i_plus++;
right_far = i_plus;
ind = (i + i_plus) % n;
dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x);
dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y);
dist_r = dx * dx + dy * dy;
}
right_far = i_plus;
/* left minimum */
while( dist_l < dmin2 )
{
float dx, dy;
int ind;
if( i_minus <= -n )
goto error;
left_near = i_minus;
if( dist_l < dneigh2 )
ptInf[i].left_neigh = i_minus;
i_minus--;
ind = i + i_minus;
ind = (ind < 0) ? (n + ind) : ind;
dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x);
dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y);
dist_l = dx * dx + dy * dy;
}
/* find left maximum */
while( dist_l <= dmax2 )
{
float dx, dy;
int ind;
if( i_minus <= -n )
goto error;
ind = i + i_minus;
ind = (ind < 0) ? (n + ind) : ind;
distance[ind] = cvSqrt( dist_l );
if( dist_l < dneigh2 )
ptInf[i].left_neigh = i_minus;
i_minus--;
left_far = i_minus;
ind = i + i_minus;
ind = (ind < 0) ? (n + ind) : ind;
dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x);
dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y);
dist_l = dx * dx + dy * dy;
}
left_far = i_minus;
if( (i_plus - i_minus) > n + 2 )
goto error;
max_cos_alpha = -1;
for( j = left_far + 1; j < left_near; j++ )
{
float dx, dy;
float a, a2;
int leftind = i + j;
leftind = (leftind < 0) ? (n + leftind) : leftind;
a = distance[leftind];
a2 = a * a;
for( k = right_near + 1; k < right_far; k++ )
{
int ind = (i + k) % n;
float c2, cosalpha;
float b = distance[ind];
float b2 = b * b;
/* compute cosinus */
dx = (float) (ptInf[leftind].pt.x - ptInf[ind].pt.x);
dy = (float) (ptInf[leftind].pt.y - ptInf[ind].pt.y);
c2 = dx * dx + dy * dy;
cosalpha = (a2 + b2 - c2) / (2 * a * b);
max_cos_alpha = MAX( max_cos_alpha, cosalpha );
if( max_cos_alpha < mincos )
max_cos_alpha = -1;
sharpness[i] = max_cos_alpha;
}
}
}
/*****************************************************************************************/
/* Second pass */
/*****************************************************************************************/
cvStartWriteSeq( (contour->flags & ~CV_SEQ_ELTYPE_MASK) | CV_SEQ_ELTYPE_INDEX,
sizeof( CvSeq ), sizeof( int ), storage, &writer );
/* second pass - nonmaxima suppression */
/* neighborhood of point < dneigh2 */
for( i = 0; i < n; i++ )
{
int suppressed = 0;
if( sharpness[i] == -1 )
continue;
for( j = 1; (j <= ptInf[i].right_neigh) && (suppressed == 0); j++ )
{
if( sharpness[i] < sharpness[(i + j) % n] )
suppressed = 1;
}
for( j = -1; (j >= ptInf[i].left_neigh) && (suppressed == 0); j-- )
{
int ind = i + j;
ind = (ind < 0) ? (n + ind) : ind;
if( sharpness[i] < sharpness[ind] )
suppressed = 1;
}
if( !suppressed )
CV_WRITE_SEQ_ELEM( i, writer );
}
*corners = cvEndWriteSeq( &writer );
cvFree( &sharpness );
cvFree( &distance );
cvFree( &ptInf );
return status;
error:
/* dmax is so big (more than contour diameter)
that algorithm could become infinite cycle */
cvFree( &sharpness );
cvFree( &distance );
cvFree( &ptInf );
return CV_BADRANGE_ERR;
}
void Gesture1::trackMarker (IplImage* destImg, CvPoint _r, CvPoint _b, CvPoint _g, CvPoint _y) {
// find tissue box!
CvPoint* objPoints = objectDetector->detect(destImg);
// draw
world->Step(1.0F/6.0F, 10, 10);
cvLine(destImg, cvPoint(0,HEIGHT), cvPoint(1000,HEIGHT), CV_RGB(0,255,0), 3);
for (b2Body* b = world->GetBodyList(); b; b = b->GetNext()) {
//printf("**draw body\n");
Box2DData* userData = (Box2DData*)b->GetUserData();
if (userData != NULL) {
if (strcmp(userData->type, "Circle") == 0) {
//b2Vec2 v = b->GetWorldCenter();
b2Vec2 v = b->GetPosition();
//printf("** x=%f y=%f r=%f\n", v.x, v.y, userData->radius);
CvPoint center = cvPoint(v.x*WORLD_SCALE, v.y*WORLD_SCALE);
cvCircle(destImg, center, userData->radius*WORLD_SCALE, CV_RGB(255,0,0), -1);
} else if (strcmp(userData->type, "Box") == 0) {
world->DestroyBody(b);
}
}
}
if (objPoints != NULL) {
printf("construct body\n");
b2PolygonShape cs;
b2Vec2 vertices[4] = {
b2Vec2((float)(objPoints[0].x)/WORLD_SCALE, (float)(objPoints[0].y)/WORLD_SCALE),
b2Vec2((float)(objPoints[1].x)/WORLD_SCALE, (float)(objPoints[1].y)/WORLD_SCALE),
b2Vec2((float)(objPoints[2].x)/WORLD_SCALE, (float)(objPoints[2].y)/WORLD_SCALE),
b2Vec2((float)(objPoints[3].x)/WORLD_SCALE, (float)(objPoints[3].y)/WORLD_SCALE)
};
cs.Set(vertices, 4);
b2BodyDef bd;
//bd.type = b2_staticBody;
Box2DData* obj = new Box2DData();
strcpy(obj->type, "Box");
bd.userData = obj;
b2Body* body1 = world->CreateBody(&bd);
body1->CreateFixture(&cs, 0.0f);
}
if (_r.x < 0) return;
Point2D r = toPoint2D(_r);
// if marker is not moving for a while, reset the path
int len = path.size();
if (len > KEEP_MAX) {
path.erase(path.begin());
}
int nearCount = 0;
int actual = min(KEEP_COUNT, len);
/*
for(int i=0; i<actual; i++){
Point2D p = path[len-1-i];
double d = dist(p, r);
//printf("dist=%f\n", d);
if (d < NEAR_THRESHOLD) ++nearCount;
}
if (nearCount > (double)actual * DONT_MOVE_THRESHOLD_RATE) {
// marker is not moving, so clear the path
printf("cleared\n");
path.clear();
}
*/
path.push_back(r);
// decide if we should recognize
time_t current;
time(¤t);
double interval = difftime(current, lastTime);
printf("interval=%f\n", interval);
if (interval < INTERVAL_SEC) return;
len = path.size();
if (len < 5) return;
RecognitionResult res = g.recognize(path);
printf("%s:%f\n", res.name.c_str(), res.score);
if (res.name == "Circle" && res.score > SCORE_THRESHOLD) {
printf("##circle detect##\n");
// convert to vector<Point2D> to CvSeq<CvPoint>
CvSeqWriter writer;
CvMemStorage* storage = cvCreateMemStorage(0);
cvStartWriteSeq( CV_32SC2, sizeof(CvSeq), sizeof(CvPoint), storage, &writer);
for (int i=0; i<len; i++) {
CvPoint pt = toCvPoint(path[i]);
CV_WRITE_SEQ_ELEM(pt, writer);
}
CvSeq* seq = cvEndWriteSeq(&writer);
CvBox2D ellipse = cvFitEllipse2(seq);
float radius = std::min(ellipse.size.width, ellipse.size.height)/(4.0F*WORLD_SCALE);
cvEllipseBox(destImg, ellipse, CV_RGB(0,255,255), -1);
// add Box2D object
{
b2CircleShape cs;
cs.m_radius = radius;
printf(" x=%f y=%f radius:%f\n", ellipse.center.x/WORLD_SCALE, ellipse.center.y/WORLD_SCALE, radius);
b2BodyDef bd;
bd.type = b2_dynamicBody;
bd.position.Set(ellipse.center.x/WORLD_SCALE, ellipse.center.y/WORLD_SCALE);
Box2DData* obj = new Box2DData();
strcpy(obj->type, "Circle");
obj->radius = radius;
bd.userData = obj;
b2Body* body1 = world->CreateBody(&bd);
b2FixtureDef fixtureDef;
fixtureDef.shape = &cs;
fixtureDef.density = 1.0f;
fixtureDef.friction = 0.3f;
fixtureDef.restitution = 0.6f;
body1->CreateFixture(&fixtureDef);
}
time(&lastTime);
//cvEllipseBox(destImg, ellipse, CV_RGB(125,125,255));
}
}
//makes vertical list of segments for 1 contour
CvSeq* icvCutContourRaster(CvSeq* current, CvMemStorage* storage, IplImage* image /*tmp image*/) {
//iplSet(image, 0 ); // this can cause double edges if two contours have common edge
// for example if object is circle with 1 pixel width
// to remove such problem - remove this iplSet
//approx contour by single edges
CvSeqReader reader;
CvSeqWriter writer;
int writing = 0;
cvStartReadSeq(current, &reader, 0);
//below line just to avoid warning
cvStartWriteSeq(current->flags, sizeof(CvContour), sizeof(CvPoint), storage, &writer);
CvSeq* output = 0;
CvSeq* tail = 0;
//first pass through contour - compute number of branches at every point
int i;
for (i = 0; i < current->total; i++) {
CvPoint cur;
CV_READ_SEQ_ELEM(cur, reader);
//mark point
((uchar*)image->imageData)[image->widthStep * cur.y + cur.x]++;
assert(((uchar*)image->imageData)[image->widthStep* cur.y + cur.x] != 255);
}
//second pass - create separate edges
for (i = 0; i < current->total; i++) {
CvPoint cur;
CV_READ_SEQ_ELEM(cur, reader);
//get pixel at this point
uchar flag = image->imageData[image->widthStep * cur.y + cur.x];
if (flag != 255 && flag < 3) { //
if (!writing) {
cvStartWriteSeq(current->flags, sizeof(CvContour), sizeof(CvPoint), storage, &writer);
writing = 1 ;
}
//mark point
if (flag < 3) { ((uchar*)image->imageData)[image->widthStep* cur.y + cur.x] = 255; }
//add it to another seq
CV_WRITE_SEQ_ELEM(cur, writer);
} else {
//exclude this point from contour
if (writing) {
CvSeq* newseq = cvEndWriteSeq(&writer);
writing = 0;
if (tail) {
tail->v_next = newseq;
newseq->v_prev = tail;
tail = newseq;
} else {
output = tail = newseq;
}
}
}
}
if (writing) { //if were not self intersections
CvSeq* newseq = cvEndWriteSeq(&writer);
writing = 0;
if (tail) {
tail->v_next = newseq;
newseq->v_prev = tail;
tail = newseq;
} else {
output = tail = newseq;
}
}
return output;
}
static int fmaConvexHullContour(void* prm)
{
long lErrors = 0;
static int read_param = 0;
int i,j;
CvRect rect;
int minx = 1000000, maxx = -10000;
int miny = 1000000, maxy = -10000;
long lParam = (long)prm;
CvPoint* points;
CvPoint** pointers;
CvSeqWriter writer;
CvSeqReader reader;
CvSeq* contour;
CvSeq* hull = NULL;
CvMemStorage* storage;
if(!read_param)
{
read_param=1;
/* Reading test-parameters */
trslRead( &lNumPoints, "4096", "Maximal number of points" );
trslRead( &lLoopsProp, "100", "Loops" );
}
storage = cvCreateMemStorage(0);
cvClearMemStorage( storage );
points = (CvPoint*)icvAlloc( lNumPoints * sizeof(CvPoint) );
pointers = (CvPoint**)icvAlloc( lNumPoints * sizeof(CvPoint*) );
for( j = 0; j < lLoopsProp; j++ )
{
int numpts;
/* Allocating points */
cvStartWriteSeq( CV_SEQ_SIMPLE_POLYGON , sizeof(CvSeq),
sizeof(CvPoint), storage, &writer );
ats1iInitRandom( 5, lNumPoints, &numpts, 1 );
/* init points */
ats1iInitRandom( 5, 1024, &lScreenSize, 1 );
for( i = 0; i < numpts ; i++ )
{
CvPoint pt;
ats1iInitRandom( 0, lScreenSize, (int*)&pt, 2 );
CV_WRITE_SEQ_ELEM( pt, writer );
minx = MIN(pt.x, minx );
maxx = MAX(pt.x, maxx );
miny = MIN(pt.y, miny );
maxy = MAX(pt.y, maxy );
}
contour = cvEndWriteSeq( &writer );
rect.x = minx;
rect.y = miny;
rect.width = maxx- minx + 1;
rect.height = maxy- miny + 1;
switch (lParam)
{
case APPROX:
hull = cvContourConvexHullApprox( contour, 1, CV_COUNTER_CLOCKWISE,
storage );
break;
case EXACT:
hull = cvContourConvexHull( contour,CV_COUNTER_CLOCKWISE,
storage );
break;
}/*switch */
/* check errors */
cvStartReadSeq( contour, &reader, 0 );
for( i = 0; i < contour->total; i++ )
{
CV_READ_SEQ_ELEM( points[i], reader );
}
cvStartReadSeq( hull, &reader, 0 );
for( i = 0; i < hull->total; i++ )
{
CV_READ_SEQ_ELEM( pointers[i], reader );
}
cvClearMemStorage( storage );
lErrors += atsCheckConvexHullP( points, contour->total, pointers, hull->total,
CV_COUNTER_CLOCKWISE );
} /* for */
icvFree(&points);
icvFree(&pointers);
cvReleaseMemStorage(&storage);
if( lErrors == 0 ) return trsResult( TRS_OK, "No errors fixed for this test" );
else return trsResult( TRS_FAIL, "Total fixed %d errors", lErrors );
}
