EasyPR/src/core/plate_locate.cpp

#include "../include/plate_locate.h"

/*! \namespace easypr
    Namespace where all the C++ EasyPR functionality resides
*/
namespace easypr{

const float DEFAULT_ERROR = 0.6;//0.6
const float DEFAULT_ASPECT = 3.75; //3.75 

CPlateLocate::CPlateLocate()
{
	//cout << "CPlateLocate" << endl;
	m_GaussianBlurSize = DEFAULT_GAUSSIANBLUR_SIZE;
	m_MorphSizeWidth = DEFAULT_MORPH_SIZE_WIDTH;
	m_MorphSizeHeight = DEFAULT_MORPH_SIZE_HEIGHT;

	m_error = DEFAULT_ERROR;
	m_aspect = DEFAULT_ASPECT;
	m_verifyMin = DEFAULT_VERIFY_MIN;
	m_verifyMax = DEFAULT_VERIFY_MAX;

	m_angle = DEFAULT_ANGLE;

	m_debug = DEFAULT_DEBUG;
}

//! 生活模式与工业模式切换
//! 如果为真，则设置各项参数为定位生活场景照片（如百度图片）的参数，否则恢复默认值。
void CPlateLocate::setLifemode(bool param)
{
	if(param == true)
	{
		setGaussianBlurSize(5);
		setMorphSizeWidth(17);
		setMorphSizeHeight(3);
		setVerifyError(0.75);
		setVerifyAspect(4.0);
		setVerifyMin(1);
		setVerifyMax(200);
	} 
	else
	{
		setGaussianBlurSize(DEFAULT_GAUSSIANBLUR_SIZE);
		setMorphSizeWidth(DEFAULT_MORPH_SIZE_WIDTH);
		setMorphSizeHeight(DEFAULT_MORPH_SIZE_HEIGHT);
		setVerifyError(DEFAULT_ERROR);
		setVerifyAspect(DEFAULT_ASPECT);
		setVerifyMin(DEFAULT_VERIFY_MIN);
		setVerifyMax(DEFAULT_VERIFY_MAX);
	}
}


//! 对minAreaRect获得的最小外接矩形，用纵横比进行判断
bool CPlateLocate::verifySizes(RotatedRect mr)
{
	float error = m_error;
	//Spain car plate size: 52x11 aspect 4,7272
	//China car plate size: 440mm*140mm，aspect 3.142857

	//Real car plate size: 136 * 32, aspect 4
	float aspect = m_aspect;

	//Set a min and max area. All other patchs are discarded
	//int min= 1*aspect*1; // minimum area
	//int max= 2000*aspect*2000; // maximum area
	int min = 34 * 8 * m_verifyMin; // minimum area
	int max = 34 * 8 * m_verifyMax; // maximum area

	//Get only patchs that match to a respect ratio.
	float rmin= aspect-aspect*error;
	float rmax= aspect+aspect*error;

	int area= mr.size.height * mr.size.width;
	float r = (float)mr.size.width / (float)mr.size.height;
	if(r < 1)
		r= (float)mr.size.height / (float)mr.size.width;

	if(( area < min || area > max ) || ( r < rmin || r > rmax ))
		return false;
	else
		return true;
}

//! 显示最终生成的车牌图像，便于判断是否成功进行了旋转。
Mat CPlateLocate::showResultMat(Mat src, Size rect_size, Point2f center, int index)
{
	Mat img_crop;

	getRectSubPix(src, rect_size, center, img_crop);

	if(m_debug)
	{ 
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_crop_" << index << ".jpg";
		imwrite(ss.str(), img_crop);
	}

	Mat resultResized;
	resultResized.create(HEIGHT, WIDTH, TYPE);

	resize(img_crop, resultResized, resultResized.size(), 0, 0, INTER_CUBIC);

	if(m_debug)
	{ 
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_resize_" << index << ".jpg";
		imwrite(ss.str(), resultResized);
	}

	return resultResized;
}


// !基于HSV空间的颜色搜索方法
int CPlateLocate::colorSearch(const Mat& src, const Color r, Mat& out, vector<RotatedRect>& outRects, int index)
{
	Mat match_grey;

	// width值对最终结果影响很大，可以考虑进行多次colorSerch，每次不同的值
	// 另一种解决方案就是在结果输出到SVM之前，进行线与角的再纠正
	const int color_morph_width = 10;
	const int color_morph_height = 2;

	// 进行颜色查找
	colorMatch(src, match_grey, r, false);

	if (0){
		imshow("match_grey", match_grey);
		waitKey(0);
	}

	Mat src_threshold;
	threshold(match_grey, src_threshold, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);

	Mat element = getStructuringElement(MORPH_RECT, Size(color_morph_width, color_morph_height));
	morphologyEx(src_threshold, src_threshold, MORPH_CLOSE, element);

	if (0){
		imshow("color", src_threshold);
		waitKey(0);
	}

	src_threshold.copyTo(out);

	// 查找轮廓
	vector< vector< Point> > contours;

	// 注意，findContours会改变src_threshold
	// 因此要输出src_threshold必须在这之前使用copyTo方法
	findContours(src_threshold,
		contours, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours

	vector<vector<Point>>::iterator itc = contours.begin();
	while (itc != contours.end())
	{
		RotatedRect mr = minAreaRect(Mat(*itc));

		// 需要进行大小尺寸判断
		if( !verifySizes(mr))
			itc = contours.erase(itc);
		else {
			++itc;
			outRects.push_back(mr);
		}
	}

	return 0;
}

bool CPlateLocate::sobelJudge(Mat roi)
{
	//Mat roi_blur;
	//GaussianBlur(roi, roi_blur, Size(m_GaussianBlurSize, m_GaussianBlurSize), 
	//	0, 0, BORDER_DEFAULT );
	Mat grad;

	int scale = SOBEL_SCALE;
	int delta = SOBEL_DELTA;
	int ddepth = SOBEL_DDEPTH;

	Mat roi_grey;
	cvtColor(roi, roi_grey, CV_RGB2GRAY);

	Mat grad_x, grad_y;
	Mat abs_grad_x, abs_grad_y;

	Sobel(roi_grey, grad_x, ddepth, 1, 0, 3, scale, delta, BORDER_DEFAULT);
	convertScaleAbs(grad_x, abs_grad_x);

	Sobel(roi_grey, grad_y, ddepth, 0, 1, 3, scale, delta, BORDER_DEFAULT);
	convertScaleAbs(grad_y, abs_grad_y);

	addWeighted(abs_grad_x, SOBEL_X_WEIGHT, abs_grad_y, SOBEL_Y_WEIGHT, 0, grad);

	Mat roi_threshold;
	threshold(grad, roi_threshold, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);

	Mat element = getStructuringElement(MORPH_RECT, Size(m_MorphSizeWidth, m_MorphSizeHeight) );
	morphologyEx(roi_threshold, roi_threshold, MORPH_CLOSE, element);

	float channels = roi_threshold.channels();
	float nRows = roi_threshold.rows;
	float nCols = roi_threshold.cols;

	float percent = float(countNonZero(roi_threshold)) / float(nRows * nCols);
	//cout << "precent:" << percent << endl;

	if (percent >= 0.5)
		return true;
	else
		return false;

}


//! 字符尺寸验证
bool CPlateLocate::verifyCharSizes(Mat r)
{
	//Char sizes 45x90
	float aspect = 45.0f / 90.0f;
	float charAspect = (float)r.cols / (float)r.rows;
	float error = 0.7;
	float minHeight = 10;
	float maxHeight = 35;
	//We have a different aspect ratio for number 1, and it can be ~0.2
	float minAspect = 0.05;
	float maxAspect = aspect + aspect*error;
	//area of pixels
	float area = countNonZero(r);
	//bb area
	float bbArea = r.cols*r.rows;
	//% of pixel in area
	float percPixels = area / bbArea;

	if (percPixels <= 1 && charAspect > minAspect && charAspect < maxAspect && r.rows >= minHeight && r.rows < maxHeight)
		return true;
	else
		return false;
}


//! Sobel第一次搜索
//! 不限制大小和形状，获取的BoundRect进入下一步
int CPlateLocate::sobelFrtSearch(const Mat& src, vector<Rect_<float>>& outRects)
{
	Mat src_threshold;
	sobelOper(src, src_threshold, m_GaussianBlurSize, m_MorphSizeWidth, m_MorphSizeHeight);

	/*if (1){
		imshow("sobelFrtSearch", src_threshold);
		waitKey(0);
	}*/

	vector< vector< Point> > contours;
	findContours(src_threshold,
		contours, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours

	vector<vector<Point>>::iterator itc = contours.begin();

	vector<RotatedRect> first_rects;

	while (itc != contours.end())
	{
		RotatedRect mr = minAreaRect(Mat(*itc));

		// 需要进行大小尺寸判断
		if (!verifySizes(mr))
			itc = contours.erase(itc);
		else {
			++itc;
			first_rects.push_back(mr);
		}
	}

	for (int i = 0; i < first_rects.size(); i++)
	{
		RotatedRect roi_rect = first_rects[i];

		Rect_<float> safeBoundRect;
		if ( !calcSafeRect(roi_rect, src, safeBoundRect) )
			continue;

		outRects.push_back(safeBoundRect);
	}
	return 0;
}


//! Sobel第二次搜索
//! 对大小和形状做限制，生成参考坐标
int CPlateLocate::sobelSecSearch(const Mat& bound, Point2f refpoint, vector<RotatedRect>& outRects)
{
	Mat bound_threshold;

	//! 第二次参数比一次精细
	sobelOper(bound, bound_threshold, 3, 10, 3);

	if (0){
		imshow("sobelSecSearch", bound_threshold);
		waitKey(0);
	}

	vector< vector< Point> > contours;
	findContours(bound_threshold,
		contours, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours

	vector<vector<Point>>::iterator itc = contours.begin();

	vector<RotatedRect> second_rects;
	while (itc != contours.end())
	{
		RotatedRect mr = minAreaRect(Mat(*itc));
		second_rects.push_back(mr);
		++itc;
	}

	for (int i = 0; i < second_rects.size(); i++)
	{
		RotatedRect roi = second_rects[i];
		if (verifySizes(roi))
		{
			Point2f refcenter = roi.center + refpoint;
			Size2f size = roi.size;
			double angle = roi.angle;

			RotatedRect refroi(refcenter, size, angle);
			outRects.push_back(refroi);
		}
	}

	return 0;
}


//! Sobel运算
//! 输入彩色图像，输出二值化图像
int CPlateLocate::sobelOper(const Mat& in, Mat& out, int blurSize, int morphW, int morphH)
{
	Mat mat_blur;
	GaussianBlur(in, mat_blur, Size(blurSize, blurSize), 0, 0, BORDER_DEFAULT);

	Mat mat_gray;
	if (mat_blur.channels() == 3) {
		cvtColor(mat_blur, mat_gray, CV_RGB2GRAY);
	}
	else
		mat_gray = mat_blur;

	//equalizeHist(mat_gray, mat_gray);

	


	int scale = SOBEL_SCALE;
	int delta = SOBEL_DELTA;
	int ddepth = SOBEL_DDEPTH;

	Mat grad_x, grad_y;
	Mat abs_grad_x, abs_grad_y;

	Sobel(mat_gray, grad_x, ddepth, 1, 0, 3, scale, delta, BORDER_DEFAULT);
	convertScaleAbs(grad_x, abs_grad_x);

	Sobel(mat_gray, grad_y, ddepth, 0, 1, 3, scale, delta, BORDER_DEFAULT);
	convertScaleAbs(grad_y, abs_grad_y);

	Mat grad;
	addWeighted(abs_grad_x, SOBEL_X_WEIGHT, abs_grad_y, SOBEL_Y_WEIGHT, 0, grad);

	Mat mat_threshold;
	double otsu_thresh_val = threshold(grad, mat_threshold, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);

	Mat element = getStructuringElement(MORPH_RECT, Size(morphW, morphH));
	morphologyEx(mat_threshold, mat_threshold, MORPH_CLOSE, element);

	out = mat_threshold;

	return 0;
}


//! 抗扭斜处理
int CPlateLocate::deskew(const Mat& src, const Mat& src_b, vector<RotatedRect>& inRects, vector<CPlate>& outPlates)
{

	for (int i = 0; i < inRects.size(); i++)
	{
		RotatedRect roi_rect = inRects[i];

		float r = (float)roi_rect.size.width / (float)roi_rect.size.height;
		float roi_angle = roi_rect.angle;

		Size roi_rect_size = roi_rect.size;
		if (r < 1) {
			roi_angle = 90 + roi_angle;
			swap(roi_rect_size.width, roi_rect_size.height);
		}
		
		if (roi_angle - m_angle < 0 && roi_angle + m_angle > 0)
		{
			Rect_<float> safeBoundRect;
			bool isFormRect = calcSafeRect(roi_rect, src, safeBoundRect);
			if (!isFormRect)
				continue;

			Mat bound_mat = src(safeBoundRect);
			Mat bound_mat_b = src_b(safeBoundRect);

			/*Mat element = getStructuringElement(MORPH_ELLIPSE, Size(20, 20));
			morphologyEx(bound_mat_b, bound_mat_b, MORPH_CLOSE, element);*/

			Point2f roi_ref_center = roi_rect.center - safeBoundRect.tl();
			
			Mat deskew_mat;
			if ((roi_angle - 5 < 0 && roi_angle + 5 > 0)  || 90.0 == roi_angle || -90.0 == roi_angle) 
			{
				deskew_mat = bound_mat;
			} 
			else
			{
				// 角度在5到60度之间的，首先需要旋转 rotation
				Mat rotated_mat;
				Mat rotated_mat_b;

				if (!rotation(bound_mat, rotated_mat, roi_rect_size, roi_ref_center, roi_angle))
					continue;	

				if (!rotation(bound_mat_b, rotated_mat_b, roi_rect_size, roi_ref_center, roi_angle))
					continue;

				// 如果图片偏斜，还需要视角转换 affine
				double roi_slope = 0;
				
				if (isdeflection(rotated_mat_b, roi_angle, roi_slope))
				{
					//cout << "roi_angle:" << roi_angle << endl;
					//cout << "roi_slope:" << roi_slope << endl;
					affine(rotated_mat, deskew_mat, roi_slope);
				}
				else
					deskew_mat = rotated_mat;
			}

			Mat plate_mat;
			plate_mat.create(HEIGHT, WIDTH, TYPE);

			if (deskew_mat.cols >= WIDTH || deskew_mat.rows >= HEIGHT)
				resize(deskew_mat, plate_mat, plate_mat.size(), 0, 0, INTER_AREA);
			else
				resize(deskew_mat, plate_mat, plate_mat.size(), 0, 0, INTER_CUBIC);
			
			/*if (1)
			{
				imshow("plate_mat", plate_mat);
				waitKey(0);
				destroyWindow("plate_mat");
			}*/
			

			CPlate plate;
			plate.setPlatePos(roi_rect);
			plate.setPlateMat(plate_mat);
			outPlates.push_back(plate);

		}
	}
	return 0;
}

//! 旋转操作
bool CPlateLocate::rotation(Mat& in, Mat& out, const Size rect_size, const Point2f center, const double angle)
{
	Mat in_large;
	in_large.create(in.rows*1.5, in.cols*1.5, in.type());

	int x = in_large.cols / 2 - center.x > 0 ? in_large.cols / 2 - center.x : 0;
	int y = in_large.rows / 2 - center.y > 0 ? in_large.rows / 2 - center.y : 0;

	int width = x + in.cols < in_large.cols ? in.cols : in_large.cols - x;
	int height = y + in.rows < in_large.rows ? in.rows : in_large.rows - y;

	/*assert(width == in.cols);
	assert(height == in.rows);*/

	if (width != in.cols || height != in.rows)
		return false;

	Mat imageRoi = in_large(Rect(x, y, width, height));
	addWeighted(imageRoi, 0, in, 1, 0, imageRoi);

	Point2f center_diff(in.cols/2, in.rows/2);
	Point2f new_center(in_large.cols / 2, in_large.rows / 2);

	Mat rot_mat = getRotationMatrix2D(new_center, angle, 1);

	/*imshow("in_copy", in_large);
	waitKey(0);*/

	Mat mat_rotated;
	warpAffine(in_large, mat_rotated, rot_mat, Size(in_large.cols, in_large.rows), CV_INTER_CUBIC);

	/*imshow("mat_rotated", mat_rotated);
	waitKey(0);*/

	Mat img_crop;
	getRectSubPix(mat_rotated, Size(rect_size.width, rect_size.height), new_center, img_crop);

	out = img_crop;

	/*imshow("img_crop", img_crop);
	waitKey(0);*/

	return true;

	
}


//! 是否偏斜
//! 输入二值化图像，输出判断结果
bool CPlateLocate::isdeflection(const Mat& in, const double angle, double& slope)
{
	int nRows = in.rows;
	int nCols = in.cols;

	assert(in.channels() == 1);

	int comp_index[3];
	int len[3];

	comp_index[0] = nRows / 4;
	comp_index[1] = nRows / 4 * 2;
	comp_index[2] = nRows / 4 * 3;

	const uchar* p;
	
	for (int i = 0; i < 3; i++)
	{
		int index = comp_index[i];
		p = in.ptr<uchar>(index);

		int j = 0;
		int value = 0;
		while (0 == value && j < nCols)
			value = int(p[j++]);

		len[i] = j;
	}

	//cout << "len[0]:" << len[0] << endl;
	//cout << "len[1]:" << len[1] << endl;
	//cout << "len[2]:" << len[2] << endl;
	
	double maxlen = max(len[2], len[0]);
	double minlen = min(len[2], len[0]);
	double difflen = abs(len[2] - len[0]);
	//cout << "nCols:" << nCols << endl;

	double PI = 3.14159265;
	double g = tan(angle * PI / 180.0);

	if (maxlen - len[1] > nCols/32 || len[1] - minlen > nCols/32 ) {
		// 如果斜率为正，则底部在下，反之在上
		double slope_can_1 = double(len[2] - len[0]) / double(comp_index[1]);
		double slope_can_2 = double(len[1] - len[0]) / double(comp_index[0]);
		double slope_can_3 = double(len[2] - len[1]) / double(comp_index[0]);

		/*cout << "slope_can_1:" << slope_can_1 << endl;
		cout << "slope_can_2:" << slope_can_2 << endl;
		cout << "slope_can_3:" << slope_can_3 << endl;*/
 
		slope = abs(slope_can_1 - g) <= abs(slope_can_2 - g) ? slope_can_1 : slope_can_2;

		/*slope = max(  double(len[2] - len[0]) / double(comp_index[1]),
			double(len[1] - len[0]) / double(comp_index[0]));*/
		
		//cout << "slope:" << slope << endl;
		return true;
	}
	else {
		slope = 0;
	}

	return false;
}


//! 扭变操作
void CPlateLocate::affine(const Mat& in, Mat& out, const double slope)
{
	//imshow("in", in);
	//waitKey(0);

	Point2f dstTri[3];
	Point2f plTri[3];

	int height = in.rows;
	int width = in.cols;
	double xiff = abs(slope) * height;

	if (slope > 0)
	{
		//左倾型，新起点坐标系在xiff/2位置
		plTri[0] = Point2f(0, 0);
		plTri[1] = Point2f(width - xiff - 1, 0);
		plTri[2] = Point2f(0 + xiff, height - 1);

		dstTri[0] = Point2f(xiff / 2, 0);
		dstTri[1] = Point2f(width - 1 - xiff / 2, 0);
		dstTri[2] = Point2f(xiff/2, height - 1);
	}
	else
	{
		//右倾型，新起点坐标系在 -xiff/2位置
		plTri[0] = Point2f(0 + xiff, 0);
		plTri[1] = Point2f(width - 1, 0);
		plTri[2] = Point2f(0, height - 1);

		dstTri[0] = Point2f(xiff/2, 0);
		dstTri[1] = Point2f(width - 1 - xiff + xiff/2, 0);
		dstTri[2] = Point2f(xiff/2, height - 1);
	}

	/*dstTri[0] = Point2f(0, 0);
	dstTri[1] = Point2f(WIDTH - 1, 0);
	dstTri[2] = Point2f(0, HEIGHT - 1);*/

	Mat warp_mat = getAffineTransform(plTri, dstTri);

	Mat affine_mat;
	affine_mat.create(height, width, TYPE);

	if (in.rows > HEIGHT || in.cols > WIDTH)
		warpAffine(in, affine_mat, warp_mat, affine_mat.size(), CV_INTER_AREA);
	else
		warpAffine(in, affine_mat, warp_mat, affine_mat.size(), CV_INTER_CUBIC);

	out = affine_mat;

	/*imshow("out", out);
	waitKey(0);*/
}


//! 计算一个安全的Rect
//! 如果不存在，返回false
bool CPlateLocate::calcSafeRect(const RotatedRect& roi_rect, const Mat& src, Rect_<float>& safeBoundRect)
{
	Rect_<float> boudRect = roi_rect.boundingRect();

	// boudRect的左上的x和y有可能小于0
	float tl_x = boudRect.x > 0 ? boudRect.x : 0;
	float tl_y = boudRect.y > 0 ? boudRect.y : 0;
	// boudRect的右下的x和y有可能大于src的范围
	float br_x = boudRect.x + boudRect.width < src.cols ?
		boudRect.x + boudRect.width - 1 : src.cols - 1;
	float br_y = boudRect.y + boudRect.height < src.rows ?
		boudRect.y + boudRect.height - 1 : src.rows - 1;

	float roi_width = br_x - tl_x;
	float roi_height = br_y - tl_y;

	if (roi_width <= 0 || roi_height <= 0)
		return false;

	// 新建一个mat，确保地址不越界，以防mat定位roi时抛异常
	safeBoundRect = Rect_<float>(tl_x, tl_y, roi_width, roi_height);

	return true;
}


int CPlateLocate::deskewOld(Mat src, vector<RotatedRect>& inRects, 
	vector<RotatedRect>& outRects, vector<Mat>& outMats, LocateType locateType)
{
	int k = 1;
	for(int i=0; i< inRects.size(); i++)
	{
		RotatedRect minRect = inRects[i];

		if(verifySizes(minRect))
		{	
			float r = (float)minRect.size.width / (float)minRect.size.height;
			float angle = minRect.angle;
			cout << "angle:" << angle << endl;

			Size rect_size = minRect.size;
			if (r < 1) {
				angle = 90 + angle;
				swap(rect_size.width, rect_size.height);
			}

			if (angle - m_angle < 0 && angle + m_angle > 0) 
			{
				Rect_<float> boudRect = minRect.boundingRect();

				// boudRect的左上的x和y有可能小于0
				float tl_x = boudRect.x > 0 ? boudRect.x : 0;
				float tl_y = boudRect.y > 0 ? boudRect.y : 0;
				// boudRect的右上的x和y有可能大于src的范围
				float br_x = boudRect.x + boudRect.width < src.cols  ? 
					boudRect.x + boudRect.width - 1 : src.cols - 1;
				float br_y = boudRect.y + boudRect.height < src.rows  ? 
					boudRect.y + boudRect.height - 1 : src.rows - 1;

				float roi_width = br_x - tl_x;
				float roi_height = br_y - tl_y;

				if (roi_width <= 0 || roi_height <= 0)
					continue;

				// 新建一个mat，确保地址不越界，以防mat定位roi时抛异常
				Rect_<float> roiRect = Rect_<float>(tl_x, tl_y, roi_width, roi_height);
				
				Mat src_mat = src(roiRect);

				//imshow("src_mat", src_mat);
				//waitKey(0);

				if (locateType == COLOR) 
				{
					Mat img_crop;
					if (0.0 == angle || 90.0 == angle || -90.0 == angle || -0.0 == angle)
					{
						//  如果角度等于这些值，则不需要旋转，直接就是正矩形
						//  以免带来旋转与裁剪中的线性插值带来的误差与模糊
						img_crop = src_mat;
					}
					else if (angle - 5 < 0 && angle + 5 > 0)
					{
						//  如果角度小于5度，则不必旋转，直接显示
						//  以免带来旋转与裁剪中的线性插值带来的误差与模糊
						img_crop = src_mat;
					}
					else
					{
						//  如果角度在5度到45度之间，则需要旋转

						//vector<RotatedRect> rects_tmp;
						//deskewP(src_mat, BLUE, rects_tmp);

						Point2f newcenter(roiRect.width / 2, roiRect.height / 2 );
						/*cout << "a:" << angle;*/
						Mat rotmat = getRotationMatrix2D(newcenter, angle, 1);

						Mat img_rotated;
						warpAffine(src_mat, img_rotated, rotmat, src_mat.size(), CV_INTER_CUBIC);

						/*imshow("img_rotated", img_rotated);
						waitKey(0);
*/
						Mat middle_crop;
						getRectSubPix(img_rotated, rect_size, newcenter, middle_crop);

						/*imshow("middle_crop", middle_crop);
						waitKey(0);*/

						if (r <= 10)
						{
							Point2f srcTri[4];
							Point2f dstTri[3];

							Point2f plTri[3];

							if (angle < 0)
							{
								double PI = 3.14159265;
								double g = tan((angle + 90) * PI / 180.0);

								double xdiff = double(middle_crop.rows) * g;
								plTri[0] = Point2f(0 + xdiff, 0);
								plTri[1] = Point2f(middle_crop.cols - 1, 0);
								plTri[2] = Point2f(0 , middle_crop.rows - 1);
							}
							else
							{
								double PI = 3.14159265;
								double g = tan(abs(angle) * PI / 180.0);

								double xdiff = double(middle_crop.rows) * g;
								plTri[0] = Point2f(0, 0);
								plTri[1] = Point2f(middle_crop.cols - 1, 0);
								plTri[2] = Point2f(0 + xdiff, middle_crop.rows - 1);
							}

							dstTri[0] = Point2f(0, 0);
							dstTri[1] = Point2f(WIDTH - 1, 0);
							dstTri[2] = Point2f(0, HEIGHT - 1);

							//
							Mat warp_mat = getAffineTransform(plTri, dstTri);
							////Mat warp_mat = getPerspectiveTransform( srcTri, dstTri );
							Mat result_crop;
							warpAffine(middle_crop, result_crop, warp_mat, Size(WIDTH, HEIGHT), CV_INTER_CUBIC);

							result_crop.copyTo(img_crop);

							/*imshow("img_crop", img_crop);
							waitKey(0);*/
						}
						else
						{
							img_crop = middle_crop;
						}

					}

					if (sobelJudge(img_crop)) {

						Mat plate_img;
						plate_img.create(HEIGHT, WIDTH, TYPE);
						if (img_crop.cols >= WIDTH || img_crop.rows >= HEIGHT)
							resize(img_crop, plate_img, plate_img.size(), 0, 0, INTER_AREA);
						else
							resize(img_crop, plate_img, plate_img.size(), 0, 0, INTER_CUBIC);

						/*imshow("plate_img", plate_img);
						waitKey(0);*/

						outRects.push_back(minRect);
						outMats.push_back(plate_img);
					}
				}

				//if (locateType == SOBEL) {
				//	vector<Mat> resultVec;
				//	vector<RotatedRect> resultRects;
				//	sobelFindAgn(src_mat, resultRects, resultVec);

				//	for (int j = 0; j < resultRects.size(); j++) {
				//		Point2f origin_center = Point2f(tl_x, tl_y) + resultRects[j].center;
				//		RotatedRect origin_rect(origin_center, resultRects[j].size, resultRects[j].angle);
				//		outRects.push_back(origin_rect);
				//	}

				//	for (int j = 0; j < resultVec.size(); j++)
				//	{
				//		//if (charJudge(resultVec[j]))
				//		outMats.push_back(resultVec[j]);
				//	}
				//}
							
			}
		}
	}

	return 0;
}


// !基于颜色信息的车牌定位
int CPlateLocate::plateColorLocate(Mat src, vector<CPlate>& candPlates, int index)
{
	vector<RotatedRect> rects_color_blue;
	vector<RotatedRect> rects_color_yellow;
	vector<CPlate> plates;
	Mat src_b;

	// 查找蓝色车牌
	// 查找颜色匹配车牌
	colorSearch(src, BLUE, src_b, rects_color_blue, index);
	// 进行抗扭斜处理
	deskew(src, src_b, rects_color_blue, plates);

	// 查找黄色车牌
	colorSearch(src, YELLOW, src_b, rects_color_yellow, index);
	deskew(src, src_b, rects_color_yellow, plates);

	for (int i = 0; i< plates.size(); i++)
		candPlates.push_back(plates[i]);

	return 0;
}


// !基于垂直线条的车牌定位
int CPlateLocate::plateSobelLocate(Mat src, vector<CPlate>& candPlates, int index)
{
	vector<RotatedRect> rects_sobel;
	vector<RotatedRect> rects_sobel_sel;
	vector<CPlate> plates;

	vector<Rect_<float>> bound_rects;

	// Sobel第一次粗略搜索
	sobelFrtSearch(src, bound_rects);

	for (int i = 0; i < bound_rects.size(); i++)
	{
		Rect_<float> bound_rect = bound_rects[i];
		Point2f refpoint(bound_rect.x, bound_rect.y);
		
		int x = bound_rect.x > 0 ? bound_rect.x : 0;
		int y = bound_rect.y > 0 ? bound_rect.y : 0;

		int width = x + bound_rect.width < src.cols ?  bound_rect.width : src.cols - x;
		int height = y + bound_rect.height < src.rows ?  bound_rect.height : src.rows - y;

		Rect safe_bound_rect(x, y, width, height);
		Mat bound_mat = src(safe_bound_rect);

		// Sobel第二次精细搜索
		sobelSecSearch(bound_mat, refpoint, rects_sobel);
	}

	Mat src_b;
	sobelOper(src, src_b, 3, 10, 3);

	// 进行抗扭斜处理
	deskew(src, src_b, rects_sobel, plates);

	for (int i = 0; i< plates.size(); i++)
		candPlates.push_back(plates[i]);

	return 0;
}

//				Point2f srcTri[3];
//				Point2f dstTri[3];
//
//				Point2f rect_points[4]; 
//				minRect.points( rect_points );
//
//				for(int i = 0; i < 4; i++)
//					rect_points[i] -= bouding.tl();
//
//				for(int i = 0; i < 3; i++) {
//					for(int j = 0; j < 3-i; j++) {
//						if (rect_points[j].x > rect_points[j+1].x) {
//							Point2f t = rect_points[j];
//							rect_points[j] = rect_points[j+1];
//							rect_points[j+1] = t;
//						}
//					}
//				}
//
//				if (rect_points[0].y < rect_points[1].y) {
//					srcTri[0] = rect_points[0];
//					srcTri[2] = rect_points[1];
//				} else {
//					srcTri[0] = rect_points[1];
//					srcTri[2] = rect_points[0];
//				}




//! deprected
//! 定位车牌图像
//! src 原始图像
//! resultVec 一个Mat的向量，存储所有抓取到的图像
//! 成功返回0，否则返回-1
//int CPlateLocate::plateLocate(Mat src, vector<Mat>& resultVec, int index)
//{
//	Mat src_blur, src_gray;
//	Mat grad;
//	Mat src_hist;
//	Mat src_color;
//
//	int scale = SOBEL_SCALE;
//	int delta = SOBEL_DELTA;
//	int ddepth = SOBEL_DDEPTH;
//
//	if( !src.data )
//	{ return -1; }
//
//	//测试，三通道划分为单通道
//	//vector<Mat> channels; 
//	//split(src, channels);
//	//Mat imageBlue = channels.at(0);
//	//if(1)
//	//{ 
//	//	stringstream ss(stringstream::in | stringstream::out);
//	//	ss << "image/tmp/debug_imageBlue" << index << ".jpg";
//	//	imwrite(ss.str(), imageBlue);
//	//}
//
//	//高斯模糊。Size中的数字影响车牌定位的效果。
//	GaussianBlur( src, src_blur, Size(m_GaussianBlurSize, m_GaussianBlurSize), 
//		0, 0, BORDER_DEFAULT );
//
//	if(m_debug)
//	{ 
//		stringstream ss(stringstream::in | stringstream::out);
//		ss << "image/tmp/debug_GaussianBlur" << ".jpg";
//		imwrite(ss.str(), src_blur);
//	}
//
//	/// Convert it to gray
//	cvtColor( src_blur, src_gray, CV_RGB2GRAY );
//
//	if(m_debug)
//	{ 
//		stringstream ss(stringstream::in | stringstream::out);
//		ss << "image/tmp/debug_gray" << ".jpg";
//		imwrite(ss.str(), src_gray);
//	}
//
//	/// Generate grad_x and grad_y
//	Mat grad_x, grad_y;
//	Mat abs_grad_x, abs_grad_y;
//
//	/// Gradient X
//	//Scharr( src_gray, grad_x, ddepth, 1, 0, scale, delta, BORDER_DEFAULT );
//	Sobel( src_gray, grad_x, ddepth, 1, 0, 3, scale, delta, BORDER_DEFAULT );
//	convertScaleAbs( grad_x, abs_grad_x );
//
//	/// Gradient Y
//	//Scharr( src_gray, grad_y, ddepth, 0, 1, scale, delta, BORDER_DEFAULT );
//	Sobel( src_gray, grad_y, ddepth, 0, 1, 3, scale, delta, BORDER_DEFAULT );
//	convertScaleAbs( grad_y, abs_grad_y );
//
//	/// Total Gradient (approximate)
//	addWeighted( abs_grad_x, SOBEL_X_WEIGHT, abs_grad_y, SOBEL_Y_WEIGHT, 0, grad );
//
//	//Laplacian( src_gray, grad_x, ddepth, 3, scale, delta, BORDER_DEFAULT );  
//	//convertScaleAbs( grad_x, grad );  
//
//	if(m_debug)
//	{ 
//		stringstream ss(stringstream::in | stringstream::out);
//		//ss << "image/tmp/debug_Sobel_" << index << ".jpg";
//		ss << "image/tmp/" << index << "_" << 3 <<"_debug_Sobel" << ".jpg";
//		imwrite(ss.str(), grad);
//	}
//
//	//if(1)
//	//{ 
//	//	stringstream ss(stringstream::in | stringstream::out);
//	//	ss << "image/tmp/" << index << "_" << 4 <<"_src_combin" << ".jpg";
//	//	imwrite(ss.str(), src_combin);
//	//}
//
//	Mat img_threshold;
//	threshold(grad, img_threshold, 0, 255, CV_THRESH_OTSU+CV_THRESH_BINARY);
//
//	if(0)
//	{ 
//		stringstream ss(stringstream::in | stringstream::out);
//		//ss << "image/tmp/debug_threshold_" << index << ".jpg";
//		ss << "image/tmp/" << index << "_" << 5 <<"_img_threshold" << ".jpg";
//		imwrite(ss.str(), img_threshold);
//	}
//
//	Mat element = getStructuringElement(MORPH_RECT, Size(m_MorphSizeWidth, m_MorphSizeHeight) );
//	morphologyEx(img_threshold, img_threshold, MORPH_CLOSE, element);
//	
//	if(1)
//	{ 
//		stringstream ss(stringstream::in | stringstream::out);
//		//ss << "image/tmp/debug_morphology_" << index << ".jpg";
//		ss << "image/tmp/" << index << "_" << 6 <<"_morph" << ".jpg";
//		imwrite(ss.str(), img_threshold);
//	}
//
//	//Find 轮廓 of possibles plates
//	vector< vector< Point> > contours;
//	findContours(img_threshold,
//		contours, // a vector of contours
//		CV_RETR_EXTERNAL, // 提取外部轮廓
//		CV_CHAIN_APPROX_NONE); // all pixels of each contours
//
//	Mat result;
//	if(1)
//	{ 
//		//// Draw blue contours on a white image
//		src.copyTo(result);
//
//		//drawContours(result, contours,
//		//	-1, // draw all contours
//		//	Scalar(0,0,255), // in blue
//		//	1); // with a thickness of 1 
//
//		//stringstream ss(stringstream::in | stringstream::out);
//		//ss << "image/tmp/debug_Contours" << ".jpg";
//		//imwrite(ss.str(), result);
//	}
//
//
//	//Start to iterate to each contour founded
//	vector<vector<Point> >::iterator itc = contours.begin();
//	
//	vector<RotatedRect> rects;
//	//Remove patch that are no inside limits of aspect ratio and area.
//	int t = 0;
//	while (itc != contours.end())
//	{
//		//Create bounding rect of object
//		RotatedRect mr = minAreaRect(Mat(*itc));
//
//		//large the rect for more
//		if( !verifySizes(mr))
//		{
//			itc = contours.erase(itc);
//		}
//		else
//		{
//			++itc;
//			rects.push_back(mr);
//		}
//	}
//
//	int k = 1;
//	for(int i=0; i< rects.size(); i++)
//	{
//		RotatedRect minRect = rects[i];
//		if(verifySizes(minRect))
//		{	
//			// rotated rectangle drawing 
//			// Get rotation matrix
//			// 旋转这部分代码确实可以将某些倾斜的车牌调整正，
//			// 但是它也会误将更多正的车牌搞成倾斜！所以综合考虑，还是不使用这段代码。
//			// 2014-08-14,由于新到的一批图片中发现有很多车牌是倾斜的，因此决定再次尝试
//			// 这段代码。
//			float r = (float)minRect.size.width / (float)minRect.size.height;
//			float angle = minRect.angle;
//			Size rect_size = minRect.size;
//			if (r < 1)
//			{
//				angle = 90 + angle;
//				swap(rect_size.width, rect_size.height);
//			}
//			//如果抓取的方块旋转超过m_angle角度，则不是车牌，放弃处理
//			if (angle - m_angle < 0 && angle + m_angle > 0)
//			{
//				if(1)
//				{ 
//					Point2f rect_points[4]; 
//					minRect.points( rect_points );
//					for( int j = 0; j < 4; j++ )
//						line( result, rect_points[j], rect_points[(j+1)%4], Scalar(0,255,255), 1, 8 );
//				}
//
//				//Create and rotate image
//				Mat rotmat = getRotationMatrix2D(minRect.center, angle, 1);
//				Mat img_rotated;
//
//				/*if(m_debug)
//				{ 
//					stringstream ss(stringstream::in | stringstream::out);
//					ss << "image/tmp/needRotate" << i << ".jpg";
//					imwrite(ss.str(), result);
//				}*/
//
//				warpAffine(src, img_rotated, rotmat, src.size(), CV_INTER_CUBIC);
//
//				/*if(m_debug)
//				{ 
//					stringstream ss(stringstream::in | stringstream::out);
//					ss << "image/tmp/img_rotated" << i << ".jpg";
//					imwrite(ss.str(), result);
//				}*/
//
//
//				//Mat resultMat(img_rotated, minRect);
//				Mat resultMat;
//				resultMat = showResultMat(img_rotated, rect_size, minRect.center, k++);
//
//				resultVec.push_back(resultMat);
//			}
//		}
//	}
//
//	if(1)
//	{ 
//		stringstream ss(stringstream::in | stringstream::out);
//		//ss << "image/tmp/debug_result" << ".jpg";
//		ss << "image/tmp/" << index << "_" << 9 <<"_result" << ".jpg";
//		imwrite(ss.str(), result);
//	}
//
//	return 0;
//}


//! 新的定位车牌图像功能
//! 代码由贡献
//! 将颜色信息与Sobel信息结合做判断
//! src 原始图像
//! resultVec 一个Mat的向量，存储所有抓取到的图像
//! 成功返回0，否则返回-1
int CPlateLocate::plateLocate(Mat src, vector<Mat>& resultVec, int index)
{
	Mat src_blur, src_gray;
	Mat grad;

	int scale = SOBEL_SCALE;
	int delta = SOBEL_DELTA;
	int ddepth = SOBEL_DDEPTH;

	if (!src.data)
	{
		return -1;
	}

	//高斯模糊。Size中的数字影响车牌定位的效果。
	GaussianBlur(src, src_blur, Size(m_GaussianBlurSize, m_GaussianBlurSize),
		0, 0, BORDER_DEFAULT);

	if (m_debug)
	{
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_GaussianBlur" << ".jpg";
		imwrite(ss.str(), src_blur);
	}

	/// Convert it to gray
	cvtColor(src_blur, src_gray, CV_RGB2GRAY);

	if (m_debug)
	{
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_gray" << ".jpg";
		imwrite(ss.str(), src_gray);
	}
	// RGB颜色初定位
	// http://wenku.baidu.com/view/2329e5d2360cba1aa811da65.html?re=view
	// RGB -> HSV
	//      蓝         黄         白         黑
	//H     200~255     25~55       /           /
	//S     0.4~1       0.4~1       0~0.1       /
	//V     0.3~1       0.3~1       0.9~1       0~0.35
	//cvCvtColor(src,dst,CV_BGR2HSV);
	//其中，src为三通道的，dst也为三通道的，
	//OPENCV 中 H、S、V、顺序分别为3*x+0  3*x+1   3*x+2
	//opencv中的 H分量是 0~180， S分量是0~255， V分量是0~255
	//但是HSV颜色空间却规定的是，H范围0~360，S范围0~1，V范围0~1
	//所以你需要自己转换一下，H*2，S/255, V/255

	// 默认蓝色车牌
	cv::Mat tmp;
	cv::cvtColor(src, tmp, CV_BGR2HSV);
	vector<Mat> hsvSplit;
	split(tmp, hsvSplit);
	cv::Mat dst_blue(src.rows, src.cols, CV_8UC1);
	cv::Mat dst_yellow(src.rows, src.cols, CV_8UC1);
	for (int i = 0; i<tmp.rows; i++)
	{
		for (int j = 0; j<tmp.cols; j++)
		{
			int nH = hsvSplit[0].at<uchar>(i, j) * 2;
			float fS = hsvSplit[1].at<uchar>(i, j) / 255.0;
			float fV = hsvSplit[2].at<uchar>(i, j) / 255.0;
			if (nH >= 200 && nH <= 255 && fS >= 0.4 && fS <= 1 && fV >= 0.3 && fV <= 1) // 蓝色
				dst_blue.at<uchar>(i, j) = 255;
			else
				dst_blue.at<uchar>(i, j) = 0;
		}
	}
	Mat element_blue = getStructuringElement(MORPH_ELLIPSE, Size(10, 10));
	morphologyEx(dst_blue, dst_blue, MORPH_CLOSE, element_blue);
	//Find 轮廓 of possibles plates
	cv::Mat con_blue = dst_blue.clone();
	vector< vector< Point> > contours_blue;
	findContours(con_blue,
		contours_blue, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours
	//Start to iterate to each contour founded
	vector<vector<Point> >::iterator itb = contours_blue.begin();

	//Remove patch that are no inside limits of aspect ratio and area.
	int tb = 0;
	vector<cv::Rect> rects_blue;
	while (itb != contours_blue.end())
	{
		//Create bounding rect of object
		RotatedRect mr = minAreaRect(Mat(*itb));

		Rect_<float> safeBoundRect;
		if (!calcSafeRect(mr, src, safeBoundRect))
		{
			itb++;
			continue;
		}

		//large the rect for more
		if (!verifySizes(mr))
		{
                        cv::Mat roi = dst_blue(safeBoundRect);
			roi.setTo(0);
                        cv::swap(roi, dst_blue);
		}
		else
		{
			rects_blue.push_back(safeBoundRect);
		}
		++itb;
	}
	//////////////////////////////////////////////////////////////////////////
	for (int i = 0; i<tmp.rows; i++)
	{
		for (int j = 0; j<tmp.cols; j++)
		{
			int nH = hsvSplit[0].at<uchar>(i, j) * 2;
			float fS = hsvSplit[1].at<uchar>(i, j) / 255.0;
			float fV = hsvSplit[2].at<uchar>(i, j) / 255.0;
			if (nH >= 25 && nH <= 55 && fS >= 0.4 && fS <= 1 && fV >= 0.3 && fV <= 1) // 黄色
				dst_yellow.at<uchar>(i, j) = 255;
			else
				dst_yellow.at<uchar>(i, j) = 0;
		}
	}

	Mat element_yellow = getStructuringElement(MORPH_ELLIPSE, Size(10, 10));
	morphologyEx(dst_yellow, dst_yellow, MORPH_CLOSE, element_blue);
	//Find 轮廓 of possibles plates
	cv::Mat con_yellow = dst_yellow.clone();
	vector< vector< Point> > contours_yellow;
	findContours(con_yellow,
		contours_yellow, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours
	//Start to iterate to each contour founded
	vector<vector<Point> >::iterator ity = contours_yellow.begin();

	//Remove patch that are no inside limits of aspect ratio and area.
	tb = 0;
	vector<cv::Rect> rects_yellow;
	while (ity != contours_yellow.end())
	{
		//Create bounding rect of object
		RotatedRect mr = minAreaRect(Mat(*ity));

		Rect_<float> safeBoundRect;
		if (!calcSafeRect(mr, src, safeBoundRect))
		{
			ity++;
			continue;
		}

		//large the rect for more
		if (!verifySizes(mr))
		{
                        cv::Mat roi = dst_yellow(safeBoundRect);
			roi.setTo(0);
                        cv::swap(roi, dst_yellow);
		}
		else
		{
			rects_yellow.push_back(safeBoundRect);
		}
		++ity;
	}

	/// Generate grad_x and grad_y
	Mat grad_x, grad_y;
	Mat abs_grad_x, abs_grad_y;

	/// Gradient X
	//Scharr( src_gray, grad_x, ddepth, 1, 0, scale, delta, BORDER_DEFAULT );
	Sobel(src_gray, grad_x, ddepth, 1, 0, 3, scale, delta, BORDER_DEFAULT);
	convertScaleAbs(grad_x, abs_grad_x);

	/// Gradient Y
	//Scharr( src_gray, grad_y, ddepth, 0, 1, scale, delta, BORDER_DEFAULT );
	Sobel(src_gray, grad_y, ddepth, 0, 1, 3, scale, delta, BORDER_DEFAULT);
	convertScaleAbs(grad_y, abs_grad_y);

	/// Total Gradient (approximate)
	addWeighted(abs_grad_x, SOBEL_X_WEIGHT, abs_grad_y, SOBEL_Y_WEIGHT, 0, grad);

	//Laplacian( src_gray, grad_x, ddepth, 3, scale, delta, BORDER_DEFAULT );  
	//convertScaleAbs( grad_x, grad ); 
	cv::Mat out_blue;
	cv::multiply(grad, dst_blue, out_blue);
	cv::Mat out_yellow;
	cv::multiply(grad, dst_yellow, out_yellow);
	if (m_debug)
	{
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_Sobel_blue" << ".jpg";
		imwrite(ss.str(), out_blue);
		ss << "image/tmp/debug_Sobel_yellow" << ".jpg";
		imwrite(ss.str(), out_yellow);
	}

	Mat img_threshold_blue;
	Mat img_threshold_yellow;
	threshold(out_blue, img_threshold_blue, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);
	threshold(out_yellow, img_threshold_yellow, 0, 255, CV_THRESH_OTSU + CV_THRESH_BINARY);
	//threshold(grad, img_threshold, 75, 255, CV_THRESH_BINARY);

	if (m_debug)
	{
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_threshold_blue" << ".jpg";
		imwrite(ss.str(), img_threshold_blue);
		ss << "image/tmp/debug_threshold_yellow" << ".jpg";
		imwrite(ss.str(), img_threshold_yellow);
	}

	Mat element = getStructuringElement(MORPH_RECT, Size(m_MorphSizeWidth, m_MorphSizeHeight));
	morphologyEx(img_threshold_blue, img_threshold_blue, MORPH_CLOSE, element);
	morphologyEx(img_threshold_yellow, img_threshold_yellow, MORPH_CLOSE, element);

	if (m_debug)
	{
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_morphology_blue" << ".jpg";
		imwrite(ss.str(), img_threshold_blue);
		ss << "image/tmp/debug_morphology_yellow" << ".jpg";
		imwrite(ss.str(), img_threshold_yellow);
	}

	//Find 轮廓 of possibles plates
	contours_blue.clear();
	findContours(img_threshold_blue,
		contours_blue, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours
	contours_yellow.clear();
	findContours(img_threshold_yellow,
		contours_yellow, // a vector of contours
		CV_RETR_EXTERNAL, // 提取外部轮廓
		CV_CHAIN_APPROX_NONE); // all pixels of each contours

	Mat result;
	if (m_debug)
	{
		//// Draw blue contours on a white image
		src.copyTo(result);
		drawContours(result, contours_blue,
			-1, // draw all contours
			Scalar(0, 0, 255), // in blue
			1); // with a thickness of 1
		drawContours(result, contours_yellow,
			-1, // draw all contours
			Scalar(0, 0, 255), // in blue
			1); // with a thickness of 1
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_Contours" << ".jpg";
		imwrite(ss.str(), result);
	}


	//Start to iterate to each contour founded
	itb = contours_blue.begin();

	vector<RotatedRect> rects;
	//Remove patch that are no inside limits of aspect ratio and area.
	int t = 0;
	while (itb != contours_blue.end())
	{
		//Create bounding rect of object
		RotatedRect mr = minAreaRect(Mat(*itb));

		//large the rect for more
		if (!verifySizes(mr))
		{
			itb = contours_blue.erase(itb);
		}
		else
		{
			++itb;
			rects.push_back(mr);
		}
	}

	ity = contours_yellow.begin();
	while (ity != contours_yellow.end())
	{
		//Create bounding rect of object
		RotatedRect mr = minAreaRect(Mat(*ity));

		//large the rect for more
		if (!verifySizes(mr))
		{
			ity = contours_yellow.erase(ity);
		}
		else
		{
			++ity;
			rects.push_back(mr);
		}
	}
	int k = 1;
	for (int i = 0; i< rects.size(); i++)
	{
		RotatedRect minRect = rects[i];
		if (verifySizes(minRect))
		{
			// rotated rectangle drawing 
			// Get rotation matrix
			// 旋转这部分代码确实可以将某些倾斜的车牌调整正，
			// 但是它也会误将更多正的车牌搞成倾斜！所以综合考虑，还是不使用这段代码。
			// 2014-08-14,由于新到的一批图片中发现有很多车牌是倾斜的，因此决定再次尝试
			// 这段代码。
			if (m_debug)
			{
				Point2f rect_points[4];
				minRect.points(rect_points);
				for (int j = 0; j < 4; j++)
					line(result, rect_points[j], rect_points[(j + 1) % 4], Scalar(0, 255, 255), 1, 8);
			}

			float r = (float)minRect.size.width / (float)minRect.size.height;
			float angle = minRect.angle;
			Size rect_size = minRect.size;
			if (r < 1)
			{
				angle = 90 + angle;
				swap(rect_size.width, rect_size.height);
			}
			//如果抓取的方块旋转超过m_angle角度，则不是车牌，放弃处理
			if (angle - m_angle < 0 && angle + m_angle > 0)
			{
				//Create and rotate image
				Mat rotmat = getRotationMatrix2D(minRect.center, angle, 1);
				Mat img_rotated;
				warpAffine(src, img_rotated, rotmat, src.size(), CV_INTER_CUBIC);

				Mat resultMat;
				resultMat = showResultMat(img_rotated, rect_size, minRect.center, k++);

				resultVec.push_back(resultMat);
			}
		}
	}

	if (m_debug)
	{
		stringstream ss(stringstream::in | stringstream::out);
		ss << "image/tmp/debug_result" << ".jpg";
		imwrite(ss.str(), result);
	}

	return 0;
}




}	/*! \namespace easypr*/