void mvContours::get_hu_moments (CvSeq* contour1, HU_MOMENTS &hu_moments) {
CvMoments moments;
double hus[7];
cvContourMoments(contour1, &moments);
cvGetHuMoments(&moments, (CvHuMoments*)hus);
hu_moments = std::vector<double>(hus, hus+sizeof(hus)/sizeof(double));
}
bool ContoursProcessor::FindContours()
{
if (storage==NULL)
{
storage = cvCreateMemStorage(0);
}
else
{
cvClearMemStorage(storage);
}
cvFindContours( Tmp_img, storage, &contours, sizeof(CvContour),
CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0) );
if(ImageResult)
cvClearSeq(ImageResult);
if (contours)
{
if (ResultsStorage==NULL)
{
ResultsStorage = cvCreateMemStorage(0);
}
else
{
cvClearMemStorage(ResultsStorage);
}
ImageResult = cvCreateSeq(0,sizeof(CvSeq),sizeof(T_MEAS_RESULTS_REC),ResultsStorage);
T_MEAS_RESULTS_REC ContourResult;
int Idx=1;
for( CvSeq* c=contours; c!=NULL; c=c->h_next ) {
//for (i=0;i<contours->total;i++)
//ImageResult
if (ImageResult)
{
cvContourMoments(c,&Moments);
if ((Moments.m00>3000.0)&&(Moments.m00<8000.0))
{
memset(&ContourResult,0,sizeof(ContourResult));
ContourResult.ObjNo=Idx;
ContourResult.Area = Moments.m00;
ContourResult.Center.x = Moments.m10/Moments.m00;
ContourResult.Center.y = Moments.m01/Moments.m00;
cvSeqPushFront(ImageResult,&ContourResult);
Idx++;
}
}
}
CalcResult(ImageResult);
//PrintResults(0, res_img,ImageResult);
cvDrawContours( cnt_img, contours, CV_RGB(128,0,0), CV_RGB(0,128,0), 3, 1, CV_AA, cvPoint(0,0) );
}
return true;
}
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;
}
int bw_detect_blobs(Tracker *tracker, struct StaticData *data)
{
/* circular kernel for dilation */
IplConvKernel *kernel = cvCreateStructuringElementEx(3,3,1,1,CV_SHAPE_ELLIPSE);
/* temporary image to hold thresholded camera frame */
IplImage *thresh = cvCreateImage(cvGetSize(tracker->frame),IPL_DEPTH_8U,1);
/* variables for contour finding */
CvMemStorage *mem = cvCreateMemStorage(0);
CvSeq *contour;
CvMoments moments;
int it;
/**
* preprocessing
**/
/* threshold image, reasonably stable since frame is highly underexposed and LEDs are very bright */
cvThreshold(tracker->frame,thresh,180,255,CV_THRESH_BINARY);
/* Dilate image to increase size of responses from thresholding, gives more stable result in contour finding*/
cvDilate(thresh,thresh,kernel,2);
// cvShowImage("thresh",thresh);
/**
* blob extraction (connected component finding)
**/
/* find contours in image, should give one contour for each markers */
int nc = cvFindContours(thresh,mem,&contour,sizeof(CvContour),CV_RETR_LIST,CV_CHAIN_APPROX_SIMPLE);
// printf("nc = %d\n",nc);
it = 0;
/* if NUM_OF_MARKERS contours detected, compute mean position of each contour */
if(nc==data->NUM_OF_MARKERS)
{
if(contour)
{
// cvDrawContours(thresh,contour,cvScalarAll(255),cvScalarAll(0),100);
CvSeq *c;
for(c=contour; c!=NULL; c=c->h_next)
{
/* compute moments for each contour */
cvContourMoments(c,&moments);
/* make sure the contour encloses some area */
if(moments.m00>0.0)
{
/* compute center of mass -> mean blob position */
/* even though the computed position is stored in the marker structs, it doesn't neccessarily correspond to that specific marker */
tracker->marker[it]->blob_pos.x = moments.m10/moments.m00;
tracker->marker[it]->blob_pos.y = moments.m01/moments.m00;
// printf("(%f %f)\n",tracker->marker[it]->blob_pos.x,tracker->marker[it]->blob_pos.y);
}
else
{
/* for stable marker recognition all markers must have been detected */
tracker->state = OFF_TRACK;
break;
}
it++;
}
}
}
else
{
tracker->state = OFF_TRACK;
for(int nm=0; nm<data->NUM_OF_MARKERS; ++nm)
{
tracker->marker[nm]->pos_is_set = 0;
tracker->marker[nm]->blob_pos.x = 0;
tracker->marker[nm]->blob_pos.y = 0;
}
}
/* clean up memory */
cvReleaseMemStorage(&mem);
cvReleaseImage(&thresh);
return nc;
}
