opencv 识别网球 ，或者绿色的小球 输出重心坐标

void image_process(IplImage *image)
 {
  int iLowH =26;  
  int iHighH = 69;  
  int iLowS = 42;   
  int iHighS = 206;    
  int iLowV = 0;  
  int iHighV = 198;
   CvMemStorage* storage2 = cvCreateMemStorage();
   CvSeq* contour3 = NULL;
   CvMoments moments; 
   CvMat *region; 
   CvPoint pt1,pt2;
   double m00 = 0, m10, m01, mu20, mu11, mu02, inv_m00; 
   double a, b, c; 
   int xc, yc; 

    CvMemStorage* storage = cvCreateMemStorage();
 	CvSeq * circles=NULL;

   // Circle cir[6];
    CvPoint P0;
    CvPoint CenterPoint;
   // cvNamedWindow("win1"); 
	//cvShowImage("win1",image);
	//cvNamedWindow("image",CV_WINDOW_AUTOSIZE);//用于显示图像的窗口
	//cvNamedWindow("hsv",CV_WINDOW_AUTOSIZE);	
	//cvNamedWindow("saturation",CV_WINDOW_AUTOSIZE);
	//cvNamedWindow("value",CV_WINDOW_AUTOSIZE);
	//cvNamedWindow("pImg8u",1);
	IplImage *hsv=cvCreateImage(cvGetSize(image),8,3);//给hsv色系的图像申请空间
	IplImage *hue=cvCreateImage(cvGetSize(image),8,1);  //色调
	IplImage *saturation=cvCreateImage(cvGetSize(image),8,1);//饱和度
	IplImage *value=cvCreateImage(cvGetSize(image),8,1);//亮度
	IplImage *imgThresholded=cvCreateImage(cvGetSize(hue),8,1); 
	cvNamedWindow("yuan",1);
	cvCvtColor(image,hsv,CV_BGR2HSV);//将RGB色系转为HSV色系
	cvShowImage("yuan",image);
	//cvShowImage("hsv",hsv);
	cvSplit(hsv, hue, 0, 0, 0 );//分离三个通道
	cvSplit(hsv, 0, saturation, 0, 0 );
	cvSplit(hsv, 0, 0, value, 0 );
	int value_1=0;
	  
	cvInRangeS(
	   hsv,  
	   cvScalar(iLowH, iLowS, iLowV), 
	   cvScalar(iHighH, iHighS, iHighV),
	   imgThresholded
	   ); 
	 cvNamedWindow("imgThresholded",1);
	 cvShowImage("imgThresholded",imgThresholded);


	 IplImage*pContourImg= cvCreateImage( cvGetSize(image), 8, 1 ); 
	cvCopy(imgThresholded,pContourImg);
	 cvNamedWindow("pContourImg",1);
	 cvShowImage("pContourImg",pContourImg);
	 IplImage* dst = cvCreateImage( cvGetSize(image), 8, 3 );  
	CvMemStorage* storage3 = cvCreateMemStorage(0);  
	CvSeq* contour = 0; 
	// 提取轮廓  
    int contour_num = cvFindContours(pContourImg, storage3, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);  
    cvZero(dst);        // 清空数组  
    CvSeq *_contour = contour;   
    double maxarea = 100;  
    double minarea = 10;  
    int m = 0;  
    for( ; contour != 0; contour = contour->h_next )    
    {    
  
        double tmparea = fabs(cvContourArea(contour));  
        if(tmparea < minarea)     
        {    
            cvSeqRemove(contour, 0); // 删除面积小于设定值的轮廓  
            continue;  
        }    
        CvRect aRect = cvBoundingRect( contour, 0 );   
        if ((aRect.width/aRect.height)<1)    
        {    
            cvSeqRemove(contour, 0); //删除宽高比例小于设定值的轮廓  
            continue;  
        }    
        if(tmparea > maxarea)    
        {    
            maxarea = tmparea;  
        }    
        m++;  
        // 创建一个色彩值  
    //    CvScalar color = CV_RGB( 0, 0, 255 );  
  
     /*   max_level 绘制轮廓的最大等级。如果等级为0，绘制单独的轮廓。如果为1，绘制轮廓及在其后的相同的级别下轮廓  
        如果值为2，所有的轮廓。如果等级为2，绘制所有同级轮廓及所有低一级轮廓，诸此种种  
        如果值为负数，函数不绘制同级轮廓，但会升序绘制直到级别为abs(max_level)-1的子轮廓 */ 
     //   cvDrawContours(dst, contour, color, color, 0, 1, 8);   //绘制外部和内部的轮廓  
    }    
    contour = _contour;  
    int count = 0;  double tmparea=0;
    for(; contour != 0; contour = contour->h_next)  
    {    
        count++;  
         tmparea = fabs(cvContourArea(contour));  
        if (tmparea >= maxarea)    
        {    
            CvScalar color = CV_RGB( 0, 255, 0);  
            cvDrawContours(dst, contour, color, color, -1, 1, 8);  
			cout<<"222"<<endl;
			cout<<"面积为"<<tmparea<<endl;
			cout<<endl;

			CvRect aRect = cvBoundingRect( contour, 0 ); 
			//找重心
			{
				CvPoint2D32f center = cvPoint2D32f(0, 0);
				int countOfPoint = 0;
				for(int i = aRect.x; i < aRect.x + aRect.width; ++i){
					for(int j = aRect.y; j < aRect.y + aRect.height; ++j){
						if(*(image->imageData + image->widthStep * j + i) != 0){
							center.x += i;
							center.y += j;
							countOfPoint++;
						}
					}
				}

				center.x /= countOfPoint;
				center.y /= countOfPoint;
				cout<<"重心坐标为x："<<center.x<<endl;
         		cout<<"重心坐标为y："<<center.y<<endl;
				cvCircle(dst, cvPoint(center.x, center.y), 5, cvScalar(0, 255), 2);
			}

		}



  //  //Threshold the image
  //   cvErode(imgThresholded,imgThresholded);
  //   cvErode(imgThresholded,imgThresholded);
	 //cvErode(imgThresholded,imgThresholded);
	 //cvErode(imgThresholded,imgThresholded);	   
	 //IplImage* pImg8u=cvCloneImage(imgThresholded);
	
	 //cvCanny(pImg8u, pImg8u,40, 50, 5);
	 //cvShowImage("pImg8u",pImg8u);
	 //circles=cvHoughCircles(pImg8u,storage,CV_HOUGH_GRADIENT,
		//2,   //最小分辨率，应当>=1
		//pImg8u->height/15,   //该参数是让算法能明显区分的两个不同圆之间的最小距离
		//80,    //用于Canny的边缘阀值上限，下限被置为上限的一半
		//65,    //累加器的阀值
		//25,      //最小圆半径 
		//50      //最大圆半径
		//);
  }

	cvShowImage( "contour", dst );
	}