| 842 |
842 |
acols = accum->cols - 2;
|
| 843 |
843 |
adata = accum->data.i;
|
| 844 |
844 |
astep = accum->step/sizeof(adata[0]);
|
| 845 |
|
|
|
845 |
// Accumulate circle evidence for each edge pixel
|
| 846 |
846 |
for( y = 0; y < rows; y++ )
|
| 847 |
847 |
{
|
| 848 |
848 |
const uchar* edges_row = edges->data.ptr + y*edges->step;
|
| ... | ... | |
| 868 |
868 |
|
| 869 |
869 |
x0 = cvRound((x*idp)*ONE);
|
| 870 |
870 |
y0 = cvRound((y*idp)*ONE);
|
| 871 |
|
|
|
871 |
// Step from min_radius to max_radius in both directions of the gradient
|
| 872 |
872 |
for( k = 0; k < 2; k++ )
|
| 873 |
873 |
{
|
| 874 |
874 |
x1 = x0 + min_radius * sx;
|
| ... | ... | |
| 894 |
894 |
nz_count = nz->total;
|
| 895 |
895 |
if( !nz_count )
|
| 896 |
896 |
return;
|
| 897 |
|
|
|
897 |
//Find possible circle centers
|
| 898 |
898 |
for( y = 1; y < arows - 1; y++ )
|
| 899 |
899 |
{
|
| 900 |
900 |
for( x = 1; x < acols - 1; x++ )
|
| ... | ... | |
| 924 |
924 |
dr = dp;
|
| 925 |
925 |
min_dist = MAX( min_dist, dp );
|
| 926 |
926 |
min_dist *= min_dist;
|
| 927 |
|
|
|
927 |
// For each found possible center
|
|
928 |
// Estimate radius and check support
|
| 928 |
929 |
for( i = 0; i < centers->total; i++ )
|
| 929 |
930 |
{
|
| 930 |
931 |
int ofs = *(int*)cvGetSeqElem( centers, i );
|
| 931 |
|
y = ofs/(acols+2) - 1;
|
| 932 |
|
x = ofs - (y+1)*(acols+2) - 1;
|
| 933 |
|
float cx = (float)(x*dp), cy = (float)(y*dp);
|
|
932 |
y = ofs/(acols+2);
|
|
933 |
x = ofs - (y)*(acols+2);
|
|
934 |
//Calculate circle's center in pixels
|
|
935 |
float cx = (float)((x + 0.5f)*dp), cy = (float)(( y + 0.5f )*dp);
|
| 934 |
936 |
float start_dist, dist_sum;
|
| 935 |
937 |
float r_best = 0, c[3];
|
| 936 |
|
int max_count = R_THRESH;
|
| 937 |
|
|
|
938 |
int max_count = 0;
|
|
939 |
// Check distance with previously detected circles
|
| 938 |
940 |
for( j = 0; j < circles->total; j++ )
|
| 939 |
941 |
{
|
| 940 |
942 |
float* c = (float*)cvGetSeqElem( circles, j );
|
| ... | ... | |
| 944 |
946 |
|
| 945 |
947 |
if( j < circles->total )
|
| 946 |
948 |
continue;
|
| 947 |
|
|
|
949 |
// Estimate best radius
|
| 948 |
950 |
cvStartReadSeq( nz, &reader );
|
| 949 |
951 |
for( j = k = 0; j < nz_count; j++ )
|
| 950 |
952 |
{
|
| ... | ... | |
| 991 |
993 |
}
|
| 992 |
994 |
dist_sum += d;
|
| 993 |
995 |
}
|
| 994 |
|
|
| 995 |
|
if( max_count > R_THRESH )
|
|
996 |
// Check if the circle has enough support
|
|
997 |
if( max_count > acc_threshold )
|
| 996 |
998 |
{
|
| 997 |
999 |
c[0] = cx;
|
| 998 |
1000 |
c[1] = cy;
|