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317 lines
10 KiB
C++
317 lines
10 KiB
C++
/********************************************************************************
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*
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*
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* This program is demonstration for ellipse fitting. Program finds
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* contours and approximate it by ellipses using three methods.
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* 1: OpenCV's original method fitEllipse which implements Fitzgibbon 1995 method.
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* 2: The Approximate Mean Square (AMS) method fitEllipseAMS proposed by Taubin 1991
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* 3: The Direct least square (Direct) method fitEllipseDirect proposed by Fitzgibbon1999.
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*
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* Trackbar specify threshold parameter.
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*
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* White lines is contours/input points and the true ellipse used to generate the data.
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* 1: Blue lines is fitting ellipses using openCV's original method.
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* 2: Green lines is fitting ellipses using the AMS method.
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* 3: Red lines is fitting ellipses using the Direct method.
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*
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*
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* Original Author: Denis Burenkov
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* AMS and Direct Methods Author: Jasper Shemilt
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*
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*
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********************************************************************************/
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#include "opencv2/imgproc.hpp"
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/highgui.hpp"
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#include <iostream>
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using namespace cv;
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using namespace std;
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class canvas{
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public:
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bool setupQ;
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cv::Point origin;
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cv::Point corner;
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int minDims,maxDims;
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double scale;
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int rows, cols;
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cv::Mat img;
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void init(int minD, int maxD){
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// Initialise the canvas with minimum and maximum rows and column sizes.
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minDims = minD; maxDims = maxD;
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origin = cv::Point(0,0);
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corner = cv::Point(0,0);
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scale = 1.0;
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rows = 0;
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cols = 0;
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setupQ = false;
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}
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void stretch(cv::Point2f min, cv::Point2f max){
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// Stretch the canvas to include the points min and max.
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if(setupQ){
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if(corner.x < max.x){corner.x = (int)(max.x + 1.0);};
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if(corner.y < max.y){corner.y = (int)(max.y + 1.0);};
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if(origin.x > min.x){origin.x = (int) min.x;};
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if(origin.y > min.y){origin.y = (int) min.y;};
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} else {
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origin = cv::Point((int)min.x, (int)min.y);
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corner = cv::Point((int)(max.x + 1.0), (int)(max.y + 1.0));
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}
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int c = (int)(scale*((corner.x + 1.0) - origin.x));
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if(c<minDims){
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scale = scale * (double)minDims/(double)c;
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} else {
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if(c>maxDims){
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scale = scale * (double)maxDims/(double)c;
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}
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}
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int r = (int)(scale*((corner.y + 1.0) - origin.y));
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if(r<minDims){
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scale = scale * (double)minDims/(double)r;
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} else {
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if(r>maxDims){
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scale = scale * (double)maxDims/(double)r;
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}
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}
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cols = (int)(scale*((corner.x + 1.0) - origin.x));
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rows = (int)(scale*((corner.y + 1.0) - origin.y));
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setupQ = true;
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}
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void stretch(vector<Point2f> pts)
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{ // Stretch the canvas so all the points pts are on the canvas.
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cv::Point2f min = pts[0];
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cv::Point2f max = pts[0];
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for(size_t i=1; i < pts.size(); i++){
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Point2f pnt = pts[i];
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if(max.x < pnt.x){max.x = pnt.x;};
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if(max.y < pnt.y){max.y = pnt.y;};
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if(min.x > pnt.x){min.x = pnt.x;};
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if(min.y > pnt.y){min.y = pnt.y;};
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};
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stretch(min, max);
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}
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void stretch(cv::RotatedRect box)
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{ // Stretch the canvas so that the rectangle box is on the canvas.
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cv::Point2f min = box.center;
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cv::Point2f max = box.center;
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cv::Point2f vtx[4];
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box.points(vtx);
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for( int i = 0; i < 4; i++ ){
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cv::Point2f pnt = vtx[i];
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if(max.x < pnt.x){max.x = pnt.x;};
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if(max.y < pnt.y){max.y = pnt.y;};
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if(min.x > pnt.x){min.x = pnt.x;};
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if(min.y > pnt.y){min.y = pnt.y;};
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}
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stretch(min, max);
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}
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void drawEllipseWithBox(cv::RotatedRect box, cv::Scalar color, int lineThickness)
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{
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if(img.empty()){
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stretch(box);
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img = cv::Mat::zeros(rows,cols,CV_8UC3);
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}
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box.center = scale * cv::Point2f(box.center.x - origin.x, box.center.y - origin.y);
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box.size.width = (float)(scale * box.size.width);
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box.size.height = (float)(scale * box.size.height);
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ellipse(img, box, color, lineThickness, LINE_AA);
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Point2f vtx[4];
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box.points(vtx);
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for( int j = 0; j < 4; j++ ){
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line(img, vtx[j], vtx[(j+1)%4], color, lineThickness, LINE_AA);
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}
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}
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void drawPoints(vector<Point2f> pts, cv::Scalar color)
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{
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if(img.empty()){
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stretch(pts);
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img = cv::Mat::zeros(rows,cols,CV_8UC3);
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}
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for(size_t i=0; i < pts.size(); i++){
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Point2f pnt = scale * cv::Point2f(pts[i].x - origin.x, pts[i].y - origin.y);
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img.at<cv::Vec3b>(int(pnt.y), int(pnt.x))[0] = (uchar)color[0];
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img.at<cv::Vec3b>(int(pnt.y), int(pnt.x))[1] = (uchar)color[1];
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img.at<cv::Vec3b>(int(pnt.y), int(pnt.x))[2] = (uchar)color[2];
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};
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}
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void drawLabels( std::vector<std::string> text, std::vector<cv::Scalar> colors)
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{
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if(img.empty()){
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img = cv::Mat::zeros(rows,cols,CV_8UC3);
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}
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int vPos = 0;
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for (size_t i=0; i < text.size(); i++) {
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cv::Scalar color = colors[i];
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std::string txt = text[i];
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Size textsize = getTextSize(txt, FONT_HERSHEY_COMPLEX, 1, 1, 0);
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vPos += (int)(1.3 * textsize.height);
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Point org((img.cols - textsize.width), vPos);
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cv::putText(img, txt, org, FONT_HERSHEY_COMPLEX, 1, color, 1, LINE_8);
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}
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}
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};
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static void help()
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{
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cout <<
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"\nThis program is demonstration for ellipse fitting. The program finds\n"
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"contours and approximate it by ellipses. Three methods are used to find the \n"
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"elliptical fits: fitEllipse, fitEllipseAMS and fitEllipseDirect.\n"
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"Call:\n"
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"./fitellipse [image_name -- Default ../data/stuff.jpg]\n" << endl;
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}
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int sliderPos = 70;
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Mat image;
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bool fitEllipseQ, fitEllipseAMSQ, fitEllipseDirectQ;
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cv::Scalar fitEllipseColor = Scalar(255, 0, 0);
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cv::Scalar fitEllipseAMSColor = Scalar( 0,255, 0);
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cv::Scalar fitEllipseDirectColor = Scalar( 0, 0,255);
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cv::Scalar fitEllipseTrueColor = Scalar(255,255,255);
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void processImage(int, void*);
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int main( int argc, char** argv )
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{
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fitEllipseQ = true;
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fitEllipseAMSQ = true;
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fitEllipseDirectQ = true;
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cv::CommandLineParser parser(argc, argv,"{help h||}{@image|../data/ellipses.jpg|}");
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if (parser.has("help"))
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{
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help();
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return 0;
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}
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string filename = parser.get<string>("@image");
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image = imread(filename, 0);
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if( image.empty() )
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{
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cout << "Couldn't open image " << filename << "\n";
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return 0;
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}
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imshow("source", image);
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namedWindow("result", CV_WINDOW_NORMAL );
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// Create toolbars. HighGUI use.
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createTrackbar( "threshold", "result", &sliderPos, 255, processImage );
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processImage(0, 0);
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// Wait for a key stroke; the same function arranges events processing
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waitKey();
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return 0;
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}
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// Define trackbar callback function. This function finds contours,
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// draws them, and approximates by ellipses.
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void processImage(int /*h*/, void*)
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{
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RotatedRect box, boxAMS, boxDirect;
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vector<vector<Point> > contours;
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Mat bimage = image >= sliderPos;
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findContours(bimage, contours, RETR_LIST, CHAIN_APPROX_NONE);
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canvas paper;
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paper.init(int(0.8*MIN(bimage.rows, bimage.cols)), int(1.2*MAX(bimage.rows, bimage.cols)));
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paper.stretch(cv::Point2f(0.0f, 0.0f), cv::Point2f((float)(bimage.cols+2.0), (float)(bimage.rows+2.0)));
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std::vector<std::string> text;
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std::vector<cv::Scalar> color;
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if (fitEllipseQ) {
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text.push_back("OpenCV");
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color.push_back(fitEllipseColor);
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}
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if (fitEllipseAMSQ) {
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text.push_back("AMS");
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color.push_back(fitEllipseAMSColor);
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}
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if (fitEllipseDirectQ) {
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text.push_back("Direct");
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color.push_back(fitEllipseDirectColor);
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}
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paper.drawLabels(text, color);
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int margin = 2;
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vector< vector<Point2f> > points;
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for(size_t i = 0; i < contours.size(); i++)
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{
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size_t count = contours[i].size();
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if( count < 6 )
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continue;
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Mat pointsf;
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Mat(contours[i]).convertTo(pointsf, CV_32F);
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vector<Point2f>pts;
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for (int j = 0; j < pointsf.rows; j++) {
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Point2f pnt = Point2f(pointsf.at<float>(j,0), pointsf.at<float>(j,1));
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if ((pnt.x > margin && pnt.y > margin && pnt.x < bimage.cols-margin && pnt.y < bimage.rows-margin)) {
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if(j%20==0){
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pts.push_back(pnt);
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}
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}
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}
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points.push_back(pts);
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}
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for(size_t i = 0; i < points.size(); i++)
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{
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vector<Point2f> pts = points[i];
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if (pts.size()<=5) {
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continue;
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}
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if (fitEllipseQ) {
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box = fitEllipse(pts);
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if( MAX(box.size.width, box.size.height) > MIN(box.size.width, box.size.height)*30 ||
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MAX(box.size.width, box.size.height) <= 0 ||
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MIN(box.size.width, box.size.height) <= 0){continue;};
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}
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if (fitEllipseAMSQ) {
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boxAMS = fitEllipseAMS(pts);
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if( MAX(boxAMS.size.width, boxAMS.size.height) > MIN(boxAMS.size.width, boxAMS.size.height)*30 ||
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MAX(box.size.width, box.size.height) <= 0 ||
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MIN(box.size.width, box.size.height) <= 0){continue;};
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}
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if (fitEllipseDirectQ) {
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boxDirect = fitEllipseDirect(pts);
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if( MAX(boxDirect.size.width, boxDirect.size.height) > MIN(boxDirect.size.width, boxDirect.size.height)*30 ||
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MAX(box.size.width, box.size.height) <= 0 ||
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MIN(box.size.width, box.size.height) <= 0 ){continue;};
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}
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if (fitEllipseQ) {
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paper.drawEllipseWithBox(box, fitEllipseColor, 3);
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}
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if (fitEllipseAMSQ) {
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paper.drawEllipseWithBox(boxAMS, fitEllipseAMSColor, 2);
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}
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if (fitEllipseDirectQ) {
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paper.drawEllipseWithBox(boxDirect, fitEllipseDirectColor, 1);
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}
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paper.drawPoints(pts, cv::Scalar(255,255,255));
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}
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imshow("result", paper.img);
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}
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