void RingBox::update(const cv::Mat &inp)
{
vector<vector<Point> > contours_ring;
Mat initial_ring_mask = inp.clone();
vector<Vec4i> hierarchy_ring;
vector<Point2f> centre;
vector<Rect> initial_roi;
vector<float> radius;
//imshow("Initial mask", initial_ring_mask);
findContours(initial_ring_mask, contours_ring, hierarchy_ring, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
unsigned int No_of_ring = contours_ring.size();
vector<bool> markedRing(No_of_ring, true);
for (int i = 0; i < No_of_ring; ++i)
{
if (contours_ring[i].size() < 35)
{
markedRing[i] = false;
}
}
unsigned int count = 0;
for (int i = 0; i < No_of_ring; ++i)
{
if (markedRing[i])
{
ContourFeature cFeat(contours_ring[i]);
centre.push_back(cFeat.getCentre()); //centre.y += 10;
initial_roi.push_back(boundingRect(contours_ring[i])); // This is a OpenCV function
radius.push_back(sqrt(pow(boundingRect(contours_ring[i]).width, 2.0) + pow(boundingRect(contours_ring[i]).height, 2.0)) / 2);
++count;
}
}
assert(count == 6);
int boxSize = centre.size();
rings.resize(boxSize);
for (int i = 0; i < boxSize; ++i)
{
rings[i] = Ring(centre[i], radius[i], initial_roi[i]);
}
}
bool RingBox::init(const cv::Mat &inp, const pegBox &pegBox)
{
assert(pegBox.pegs.size() == 12);
vector<vector<Point> > contours_ring;
Mat initial_ring_mask = inp.clone();
vector<Vec4i> hierarchy_ring;
vector<Rect> initial_roi;
findContours(initial_ring_mask, contours_ring, hierarchy_ring, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
for (int i = contours_ring.size() - 1; i >= 0; i--)
{
if (contours_ring[i].size() < 50)
{
contours_ring.erase(contours_ring.begin() + i);
}
}
unsigned int No_of_ring = contours_ring.size();
if (No_of_ring == 6)
{
vector<vector<Point> > contours_poly(No_of_ring);
vector<Point2f>center_poly(No_of_ring);
vector<float>radius_poly(No_of_ring);
for (int i = 0; i < No_of_ring; ++i)
{
ContourFeature cFeat(contours_ring[i]);
approxPolyDP(Mat(contours_ring[i]), contours_poly[i], 3, true);
minEnclosingCircle((Mat)contours_poly[i], center_poly[i], radius_poly[i]);
initial_roi.push_back(boundingRect(contours_ring[i]));
}
const int size_rings = 6;
rings.resize(size_rings);
for (int i = 0; i < size_rings; ++i)
{
Ring r;
r.center = center_poly[i];
r.radius = radius_poly[i];
r.roi = initial_roi[i];
r.status = STATIONARY;
for (int p = 0; p < pegBox.pegs.size(); ++p)
{
Rect q = pegBox.pegs[p].roi;
if ((r.roi & q).width > 0)
{
r.code_pos = pegBox.pegs[p].code;
rings[i] = r;
break;
}
}
}
if (rings.size() == 6)
{
return true;
}
else
{
cout << "There is some problem in overlapping\n";
return false;
}
}
else
{
return false;
}
}
