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Commit 61eb66e4 由 张士柳
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1 个父辈 0361ce5a
内嵌 并排
正在显示 5 个修改的文件 包含 255 行增加 和 203 行删除
eyemLib-Sharp/EyemLib.cs
......@@ -853,9 +853,21 @@ namespace eyemLib_Sharp
[DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
//边缘查找
private static extern int eyemEdge1dGenPosRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, double dSigma, double dAmpThresh, out MeasureHandle hObject);
//findLine
/// <summary>
/// 寻找边缘
/// </summary>
/// <param name="tpImage">图像</param>
/// <param name="tpLineSt">卡尺起点</param>
/// <param name="tpLineEd">卡尺终点</param>
/// <param name="iWhRoi">卡尺宽度</param>
/// <param name="nCalipers">卡尺数量</param>
/// <param name="iSearchDirec">搜索方向（起点到终点方向的垂直方向）</param>
/// <param name="dAmpThreshold">最小边缘幅度</param>
/// <param name="ccTransition">灰度值过渡的类型以确定边缘'first','all', 'negative', 'positive'</param>
/// <param name="hObject">结果</param>
/// <returns></returns>
[DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
private static extern int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, out MeasureHandle hObject);
private static extern int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int nCalipers, int iSearchDirec, double dAmpThreshold, string ccTransition, out MeasureHandle hObject);
[DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
private static extern int eyemSkeleton(EyemImage tpImage);
//边缘
......@@ -1284,18 +1296,22 @@ namespace eyemLib_Sharp
#endregion
#region Test 1DEdge
//EyemOcsDXY tpLineSt = new EyemOcsDXY();
//tpLineSt.dX = 947;
//tpLineSt.dY = 1;
//EyemOcsDXY tpLineEd = new EyemOcsDXY();
//tpLineEd.dX = 149;
//tpLineEd.dY = 548;
//MeasureHandle hObject;
//eyemEdge1dGenMeasureRect(ucpImage, tpLineSt, tpLineEd, 10, "all", 0, 0.9, 30, out hObject);
//eyemEdge1dGenPosRect(ucpImage, tpLineSt, tpLineEd, 50, 0, 0.9, 30, out hObject);
//eyemEdge1dFindLine(ucpImage, tpLineSt, tpLineEd, 15, 0, out hObject);
///hObject.Dispose();
EyemOcsDXY tpLineSt = new EyemOcsDXY();
tpLineSt.dX = 671;
tpLineSt.dY = 718;
EyemOcsDXY tpLineEd = new EyemOcsDXY();
tpLineEd.dX = 858;
tpLineEd.dY = 716;
MeasureHandle hObject;
//eyemEdge1dGenMeasureRect(image, tpLineSt, tpLineEd, 10, "all", 0, 0.9, 30, out hObject);
//eyemEdge1dGenPosRect(image, tpLineSt, tpLineEd, 50, 0, 0.9, 30, out hObject);
sw.Restart();
eyemEdge1dFindLine(image, tpLineSt, tpLineEd, 25, 35, -1, 15, "negative", out hObject);
sw.Stop();
Console.WriteLine("时间：" + sw.ElapsedMilliseconds.ToString());
return;
//hObject.Dispose();
#endregion
#region Test Matrix
......@@ -1341,29 +1357,29 @@ namespace eyemLib_Sharp
#region Test RobustFitLine
EyemOcsDXY taPoint = new EyemOcsDXY();
List<EyemOcsDXY> taPoints = new List<EyemOcsDXY>();
//EyemOcsDXY taPoint = new EyemOcsDXY();
//List<EyemOcsDXY> taPoints = new List<EyemOcsDXY>();
//x^2/4+y^2/9=1
for (double i = -2.0; i <= 2.0; i += 0.1)
{
taPoint.dX = i;
taPoint.dY = 3 * Math.Sqrt(1 - Math.Pow(i, 2) / 4);
taPoints.Add(taPoint);
//for (double i = -2.0; i <= 2.0; i += 0.1)
//{
// taPoint.dX = i;
// taPoint.dY = 3 * Math.Sqrt(1 - Math.Pow(i, 2) / 4);
// taPoints.Add(taPoint);
taPoint.dX = i;
taPoint.dY = -3 * Math.Sqrt(1 - Math.Pow(i, 2) / 4);
taPoints.Add(taPoint);
}
// taPoint.dX = i;
// taPoint.dY = -3 * Math.Sqrt(1 - Math.Pow(i, 2) / 4);
// taPoints.Add(taPoint);
//}
taPoint.dX = 0;
taPoint.dY = 2;
taPoints.Add(taPoint);
//taPoint.dX = 0;
//taPoint.dY = 2;
//taPoints.Add(taPoint);
taPoint.dX = 2;
taPoint.dY = 1;
taPoints.Add(taPoint);
//taPoint.dX = 2;
//taPoint.dY = 1;
//taPoints.Add(taPoint);
//taPoint.dX = 1;
//taPoint.dY = -1;
......@@ -1418,12 +1434,12 @@ namespace eyemLib_Sharp
//EyemOcsDABCD tpPlane = new EyemOcsDABCD();
IntPtr tpPoint = eyemStructArray2IntPtr(taPoints.ToArray());
//eyemRobustFitPlane(taPoints.Count, tpPoint, 6, 0, ref tpPlane);
EyemOcsDXYLSQ tpEllipse = new EyemOcsDXYLSQ();
eyemRobustFitEllipse(taPoints.Count, tpPoint, 6, 0, ref tpEllipse);
//IntPtr tpPoint = eyemStructArray2IntPtr(taPoints.ToArray());
////eyemRobustFitPlane(taPoints.Count, tpPoint, 6, 0, ref tpPlane);
//EyemOcsDXYLSQ tpEllipse = new EyemOcsDXYLSQ();
//eyemRobustFitEllipse(taPoints.Count, tpPoint, 6, 0, ref tpEllipse);
return;
//return;
//eyemFitLine(taPoints.Count, tpPoint, 10, ref tpLine);
//eyemRobustFitLine(taPoints.Count, tpPoint, 2, 0, ref tpLine);
//eyemFitLineRANSAC(taPoints.Count, tpPoint, 5, ref tpLine);
......
eyemLib/eyemEdge1d.cpp
......@@ -43,7 +43,7 @@ static cv::Mat projectMap(const cv::Mat map, int threshold)
std::vector<cv::Point> rejectPoint;
for (int i = 0; i < temp.cols; i++)
{
rejectPoint.push_back(cv::Point(i, (int)(height - temp.at<double>(cv::Point(i, 0)))));
rejectPoint.push_back(cv::Point(i, (int)(height - temp.at<float>(cv::Point(i, 0)))));
}
cv::polylines(image, rejectPoint, false, cv::Scalar(0, 255, 0), 1, 8, 0);
......@@ -53,11 +53,6 @@ static cv::Mat projectMap(const cv::Mat map, int threshold)
return image;
}
static void interp2(cv::Mat& src, cv::Mat& dst, cv::Mat& map1, cv::Mat& map2)
{
}
int eyemEdge1dGenMeasureRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, const char *ccSubType, int iTransition, double dSigma, double dAmpThresh, IntPtr *hObject)
{
cv::Mat image(tpImage.iHeight, tpImage.iWidth, CV_8UC1, tpImage.vpImage);
......@@ -385,60 +380,210 @@ int eyemEdge1dGenPosRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLi
int eyemEdge1dFitLine(IntPtr hObject, EyemOcsDABC *tpLine)
{
// cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage).clone();
// if (image.empty()) {
// return FUNC_IMAGE_NOT_EXIST;
// }
// const int X = image.cols, Y = image.rows;
// //显示用
// cv::Mat cc;
// cv::cvtColor(image, cc, cv::COLOR_GRAY2BGR);
//
// //判断越界
// if (tpLineSt.dX < 0 || tpLineSt.dY < 0 || tpLineSt.dX>X || tpLineSt.dY>Y || tpLineEd.dX<0 || tpLineEd.dY<0 || tpLineEd.dX>X || tpLineEd.dY>Y) {
// return FUNC_ILLEGAL_ARGUMENT;
// }
// //主轴倾角,这个角度是带有方向的(-180°~180°)
// double t;
// t = atan2(tpLineEd.dY - tpLineSt.dY, tpLineEd.dX - tpLineSt.dX);
// //直线上的坐标
// float capLenth = (float)cv::norm(cv::Point2d(tpLineSt.dX, tpLineSt.dY) - cv::Point2d(tpLineEd.dX, tpLineEd.dY));
// //卡尺个数(后期可以根据需求更改)
// nCalipers = nCalipers >= cvFloor(capLenth) ? cvFloor(capLenth) : nCalipers;
// //步长
// float plusStep = capLenth / (float)nCalipers;
// //分配内存
// const int _Size = (nCalipers + 1)*(2 * iWhRoi + 1) * sizeof(uint8_t);
// uint8_t *pMap = (uint8_t *)malloc(_Size);
// if (NULL == pMap)
// return FUNC_NOT_ENOUGH_MEM;
// memset(pMap, 0, _Size);
// //线采样
// std::vector<cv::Mat> vmSamples;
// cv::Mat nSamples(nCalipers + 1, 2 * iWhRoi + 1, CV_8UC1, pMap);
// for (int n = 0; n <= nCalipers; n++) {
// //中轴线路径上的点
// float plusX, plusY;
// plusX = n*plusStep*(float)cos(t);
// plusY = n*plusStep*(float)sin(t);
//
// cv::Point2f pt((float)tpLineSt.dX + plusX, (float)tpLineSt.dY + plusY);
// std::vector<cv::Point2f> mpts;
// for (int m = -iWhRoi; m <= iWhRoi; m++) {
// //待插值坐标
// float _plusX, _plusY;
// _plusX = (float)m*(float)cos(t + iTransition*PI_BY_2) + pt.x;
// _plusY = (float)m*(float)sin(t + iTransition*PI_BY_2) + pt.y;
// //防止越界
// if (_plusX < 0 || _plusX >= X - 1 || _plusY < 0 || _plusY >= Y - 1) {
// continue;
// }
// mpts.push_back(cv::Point2f(_plusX, _plusY));
// //插值计算灰度值
// int x = (int)floor(_plusX), y = (int)floor(_plusY);
// float u = _plusX - floor(_plusX);
// float v = _plusY - floor(_plusY);
// float gv = (1.0f - u)*(1.0f - v)*(float)image.ptr<uint8_t>(y)[x] + (1.0f - u)*v*(float)image.ptr<uint8_t>(y + 1)[x] +
// u*(1.0f - v)*(float)image.ptr<uint8_t>(y)[x + 1] + u*v*(float)image.ptr<uint8_t>(y + 1)[x + 1];
// //填入灰度值
// //pMap[(iWhRoi - m) + n*nSamples.cols] = cvRound(gv);//正常图像
// //pMap[(iWhRoi + m) + n*nSamples.cols] = cvRound(gv);//沿着采样方向的不正常图像
// }
//#ifdef _DEBUG
// cv::arrowedLine(cc, mpts[0], mpts[mpts.size() - 1], cv::Scalar(0, 255, 0), 1);
//#endif
// }
// //TODO:后续考虑边界填充
//
// //释放内存(Tips:当存在越界时候在用free释放时会报错)
// free((void *)pMap);
//根据导数符号确定由暗到明和由明到暗方向，执行圆拟合与直线拟合
//std::vector<EyemOcsDXY> *tpEdges = reinterpret_cast<std::vector<EyemOcsDXY>*>(hObject);
return FUNC_OK;
}
int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, IntPtr *hObject)
int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int nCalipers, int iSearchDirec, double dAmpThreshold, const char *ccTransition, IntPtr *hObject)
{
cv::Mat image(tpImage.iHeight, tpImage.iWidth, CV_8UC1, tpImage.vpImage);
cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage).clone();
if (image.empty()) {
return FUNC_IMAGE_NOT_EXIST;
}
const int X = image.cols, Y = image.rows;
//显示用
cv::Mat cc;
cv::cvtColor(image, cc, cv::COLOR_GRAY2BGR);
if (tpLineSt.dX < 0 || tpLineSt.dY < 0 || tpLineSt.dX>tpImage.iWidth || tpLineSt.dY>tpImage.iHeight\
|| tpLineEd.dX<0 || tpLineEd.dY<0 || tpLineEd.dX>tpImage.iWidth || tpLineEd.dY>tpImage.iHeight)
//判断越界
if (tpLineSt.dX < 0 || tpLineSt.dY < 0 || tpLineSt.dX>X || tpLineSt.dY>Y || tpLineEd.dX<0 || tpLineEd.dY<0 || tpLineEd.dX>X || tpLineEd.dY>Y) {
return FUNC_ILLEGAL_ARGUMENT;
//主轴倾斜角
double t = .0, a = .0, b = .0, c = .0;
t = atan2(-tpLineEd.dX + tpLineSt.dX, tpLineEd.dY - tpLineSt.dY) /** 180. / PI*/;
//主轴直线方程ax+by+c=0
a = -(tpLineSt.dY - tpLineEd.dY);
b = (tpLineSt.dX - tpLineEd.dX);
c = tpLineEd.dX*tpLineSt.dY - tpLineSt.dX*tpLineEd.dY;
double x = (tpLineSt.dX + tpLineEd.dX) / 2;
double y = -(a*x + c) / b;
double *dpWhalf = new double[2 * iWhRoi + 1];
for (int i = -iWhRoi, j = 0; i <= iWhRoi, j < 2 * iWhRoi + 1; i++, j++)
}
//主轴倾角,这个角度是带有方向的(-180°~180°)
double t;
t = atan2(tpLineEd.dY - tpLineSt.dY, tpLineEd.dX - tpLineSt.dX);
//直线上的坐标
float capLenth = (float)cv::norm(cv::Point2d(tpLineSt.dX, tpLineSt.dY) - cv::Point2d(tpLineEd.dX, tpLineEd.dY));
//卡尺个数
nCalipers = nCalipers >= cvFloor(capLenth) ? cvFloor(capLenth) : nCalipers;
//步长
float plusStep = capLenth / (float)nCalipers;
//判断灰度值过滤类型
int np = 1;
if (strcmp("positive", ccTransition) == 0) {
np = 1;
}
else if (strcmp("negative", ccTransition) == 0) {
np = -1;
}
else if (strcmp("first", ccTransition)) {
}
//分配内存
const int _Size = (nCalipers + 1)*(2 * iWhRoi + 1) * sizeof(uint8_t);
uint8_t *pMap = (uint8_t *)malloc(_Size);
if (NULL == pMap)
return FUNC_NOT_ENOUGH_MEM;
memset(pMap, 0, _Size);
//线采样
cv::Size szMap(2 * iWhRoi + 1, nCalipers + 1);
cv::Mat nSamples(szMap, CV_8UC1, pMap);
for (int n = 0; n <= nCalipers; n++)
{
dpWhalf[j] = i;
//中轴线路径上的点
float plusX, plusY;
plusX = (float)n*plusStep*(float)cos(t);
plusY = (float)n*plusStep*(float)sin(t);
cv::Point2f pLine((float)tpLineSt.dX + plusX, (float)tpLineSt.dY + plusY);
cv::Mat vmSample(1, szMap.width, CV_32FC1);
for (int m = -iWhRoi; m <= iWhRoi; m++) {
//待插值坐标
float _plusX, _plusY;
_plusX = (float)m*(float)cos(t + iSearchDirec*PI_BY_2) + pLine.x;
_plusY = (float)m*(float)sin(t + iSearchDirec*PI_BY_2) + pLine.y;
//防止越界
if (_plusX < 0 || _plusX >= X - 1 || _plusY < 0 || _plusY >= Y - 1) {
continue;
}
//插值计算灰度值
int x = (int)floor(_plusX), y = (int)floor(_plusY);
float u = _plusX - floor(_plusX);
float v = _plusY - floor(_plusY);
float gv = (1.0f - u)*(1.0f - v)*(float)image.ptr<uint8_t>(y)[x] + (1.0f - u)*v*(float)image.ptr<uint8_t>(y + 1)[x] +
u*(1.0f - v)*(float)image.ptr<uint8_t>(y)[x + 1] + u*v*(float)image.ptr<uint8_t>(y + 1)[x + 1];
//填入灰度值
vmSample.ptr<float_t>(0)[iWhRoi + m] = gv;
//pMap[(iWhRoi - m) + n*nSamples.cols] = cvRound(gv);//正常图像
//pMap[(iWhRoi + m) + n*nSamples.cols] = cvRound(gv);//沿着采样方向的不正常图像
}
//定位，默认过滤一半像素
const cv::Mat whalf = (cv::Mat_<float>(1, 5) << np, np, 0, -np, -np);
cv::Mat map1 = projectMap(vmSample, dAmpThreshold);
float *pMag = new float[szMap.width];
cv::Mat mag(cv::Size(szMap.width, 1), CV_32FC1, pMag);
cv::sepFilter2D(vmSample, mag, CV_32F, whalf, cv::Mat::ones(1, 1, CV_32F));
cv::Mat map2 = projectMap(mag, dAmpThreshold);
//计算幅度最大值
float maxVal = *std::max_element(pMag, pMag + szMap.width);
float dist = (float)std::distance(pMag, std::max_element(pMag, pMag + szMap.width));
//遍历幅度值
for (int i = 0; i < szMap.width; i++) {
}
//最终坐标
cv::Point2f pSt, pEd;
pSt = cv::Point2f(-iWhRoi*(float)cos(t + iSearchDirec*PI_BY_2) + pLine.x, -iWhRoi*(float)sin(t + iSearchDirec*PI_BY_2) + pLine.y);
pEd = cv::Point2f(iWhRoi*(float)cos(t + iSearchDirec*PI_BY_2) + pLine.x, iWhRoi*(float)sin(t + iSearchDirec*PI_BY_2) + pLine.y);
//阈值限定,计算亚像素坐标
if (maxVal > dAmpThreshold) {
int l, m, r; float a, b, c, u;
m = (int)dist;
l = m - 1 < 0 ? m : m - 1;
r = m + 1 >= szMap.width ? m : m + 1;
a = pMag[l]; b = pMag[m];
c = pMag[r];
//存在异常，无法计算亚像素坐标
float dstX, dstY;
if (abs(a - b - b + c) > EPS) {
u = 0.5f*(a - c) / (a - b - b + c);
dstX = pSt.x + (dist + 0.5f + u)*(float)cos(t + iSearchDirec*PI_BY_2);
dstY = pSt.y + (dist + 0.5f + u)*(float)sin(t + iSearchDirec*PI_BY_2);
}
else {
dstX = pSt.x + (dist + 0.5f)*(float)cos(t + iSearchDirec*PI_BY_2);
dstY = pSt.y + (dist + 0.5f)*(float)sin(t + iSearchDirec*PI_BY_2);
}
cc.ptr<cv::Vec3b>(cvRound(dstY))[cvRound(dstX)] = cv::Vec3b(0, 255, 255);
}
cv::Mat whalf(1, 2 * iWhRoi + 1, CV_64F, dpWhalf);
cv::Mat map1, map2;
//沿法线方向采样
map1 = whalf*cos(t);
map2 = whalf*sin(t);
map1 += cv::Mat::ones(1, 31, CV_64F)*x;
map2 += cv::Mat::ones(1, 31, CV_64F)*y;
cv::Mat dst;
interp2(image, dst, map1, map2);
cv::Mat cc;
cv::cvtColor(image, cc, cv::COLOR_GRAY2BGR);
for (int i = 0; i < 31; i++)
{
cc.at<cv::Vec3b>(cv::Point(cvRound(map1.at<double>(0, i)), cvRound(map2.at<double>(0, i)))) = cv::Vec3b(0, 255, 0);
#ifdef _DEBUG
//cv::arrowedLine(cc, pSt, pEd, cv::Scalar(0, 255, 0), 1);
#endif
}
//TODO:后续考虑边界填充
//释放内存(Tips:当存在越界时候在用free释放时会报错)
free((void *)pMap);
return FUNC_OK;
}
......
eyemLib/eyemFit.cpp
......@@ -744,147 +744,37 @@ int eyemRobustFitPlane(int iPtnNum, EyemOcsDXYZ *taPoint, int iCalcMode, double
static void fitEllipse_wods(int iPtnNum, const EyemOcsDXY *taPoints, float *weights, float *linebuf)
{
//计算系数
double sa[25], sb[5], sx[5];
cv::Mat a = cv::Mat(5, 5, CV_64F, sa), b = cv::Mat(5, 1, CV_64F, sb);
//系数矩阵A*X=B;
cv::Mat x = cv::Mat(5, 1, CV_64F, sx);
memset(sa, 0, sizeof(sa));
memset(sb, 0, sizeof(sb));
memset(sx, 0, sizeof(sx));
for (int i = 0; i < iPtnNum; i++)
{
sa[0] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dX*taPoints[i].dX;
sa[1] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dX*taPoints[i].dY;
sa[2] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[3] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dX;
sa[4] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY;
sa[5] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dX*taPoints[i].dY;
sa[6] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[7] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY*taPoints[i].dY*taPoints[i].dY;
sa[8] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY;
sa[9] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[10] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[11] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY*taPoints[i].dY*taPoints[i].dY;
sa[12] += (double)weights[i] * taPoints[i].dY*taPoints[i].dY*taPoints[i].dY*taPoints[i].dY;
sa[13] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[14] += (double)weights[i] * taPoints[i].dY*taPoints[i].dY*taPoints[i].dY;
sa[15] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dX;
sa[16] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY;
sa[17] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[18] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX;
sa[19] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY;
sa[20] += (double)weights[i] * taPoints[i].dX*taPoints[i].dX*taPoints[i].dY;
sa[21] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY*taPoints[i].dY;
sa[22] += (double)weights[i] * taPoints[i].dY*taPoints[i].dY*taPoints[i].dY;
sa[23] += (double)weights[i] * taPoints[i].dX*taPoints[i].dY;
sa[24] += (double)weights[i] * taPoints[i].dY*taPoints[i].dY;
sb[0] += (double)weights[i] * (-taPoints[i].dX*taPoints[i].dX);
sb[1] += (double)weights[i] * (-taPoints[i].dX*taPoints[i].dY);
sb[2] += (double)weights[i] * (-taPoints[i].dY*taPoints[i].dY);
sb[3] += (double)weights[i] * (-taPoints[i].dY);
sb[3] += (double)weights[i] * (-taPoints[i].dX);
//6%左右的点不要
std::vector<cv::Point2f> taPoint;
for (int i = 0; i < iPtnNum; i++) {
if (weights[i]) {
taPoint.push_back(cv::Point2f((float)taPoints[i].dX, (float)taPoints[i].dY));
}
cv::solve(a, b, x, cv::DECOMP_SVD);
//计算椭圆参数Ax^2+Bxy+Cy^2+Dx+Ey+F=0 F=1
float s, l, t, x0, y0, A, B, C, D, E, F;
//对应的
A = (float)sx[0], B = (float)sx[1], C = (float)sx[2], D = (float)sx[3], E = (float)sx[4], F = 1.0f;
//中心x
x0 = (B*E - 2.0f * C*D) / (4.0f * A*C - B*B);
//中心y
y0 = (B*D - 2.0f * A*E) / (4.0f * A*C - B*B);
//倾角
if (abs(B / A) <= 0.0001f&&1.0f < C / A)
t = 0.0f;
else if (abs(B / A) <= 0.0001f&&1.0f > C / A)
t = (float)PI_BY_2;
else if (1.0f < C / A)
t = 0.5f*atan((B / A) / (1.0f - C / A));
else t = (float)PI_BY_2 + 0.5f*atan((B / A) / (1.0f - C / A));
//长轴半径
l = sqrt(2.0f*(A*x0*x0 + C*y0*y0*B*x0*y0 - 1.0f) / (A + C - sqrt((A - C)*(A - C) + B*B)));
//短轴半径
s = sqrt(2.0f*(A*x0*x0 + C*y0*y0*B*x0*y0 - 1.0f) / (A + C + sqrt((A - C)*(A - C) + B*B)));
}
//拟合椭圆
auto rbox = cv::fitEllipse(taPoint);
//结果
linebuf[0] = x0; linebuf[1] = y0; linebuf[2] = cv::max(l, s); linebuf[3] = cv::min(l, s); linebuf[4] = t;
linebuf[0] = rbox.center.x; linebuf[1] = rbox.center.y; linebuf[2] = cv::max(rbox.size.width / 2.0f, rbox.size.height / 2.0f); linebuf[3] = cv::min(rbox.size.width / 2.0f, rbox.size.height / 2.0f); linebuf[4] = rbox.angle*(float)PI / 180.0f;
}
int eyemRobustFitEllipse(int iPtnNum, EyemOcsDXY * taPoint, int iCalcMode, double dRobustCoef, EyemOcsDXYLSQ & tpEllipse)
{
double min_err = DBL_MAX, err = 0;
void(*calc_weights_param) (float *, int, float *, float) = 0;
float linebuf[5] = { .0f };
memset(linebuf, 0, 5 * sizeof(float));
std::vector<float> weights(iPtnNum, 1.0);
switch (iCalcMode)
{
case EYEM_DIST_L1:
calc_weights_param = weightL1;
break;
case EYEM_DIST_L12:
calc_weights_param = weightL12;
break;
case EYEM_DIST_FAIR:
calc_weights_param = weightFair;
break;
case EYEM_DIST_WELSCH:
calc_weights_param = weightWelsch;
break;
case EYEM_DIST_HUBER:
calc_weights_param = weightHuber;
break;
case EYEM_DIST_TUKEY:
calc_weights_param = weightTukey;
break;
case EYEM_DIST_CAUCHY:
calc_weights_param = weightCauchy;
break;
case EYEM_DIST_LOGISTIC:
calc_weights_param = weightLogistic;
break;
case EYEM_DIST_ANDREWS:
calc_weights_param = weightAndrews;
break;
case EYEM_DIST_ATLWORTH:
calc_weights_param = weightTalworth;
break;
case EYEM_DIST_USER:
calc_weights_param = weightUser;
break;
default:
break;
}
//迭代计算
for (int n = 0; n < 100; n++)
{
float sum_dist = .0, sum_w = .0;
fitEllipse_wods(iPtnNum, taPoint, &weights[0], linebuf);
//椭圆参数
float x0 = linebuf[0], y0 = linebuf[1], l = linebuf[2], s = linebuf[3], t = linebuf[4], c = sqrt(abs(l*l - s*s));
//焦点
cv::Point2f f1(x0 - c*cos(t), y0 - c*sin(t)), f2(x0 + c*cos(t), y0 + c*sin(t));
cv::AutoBuffer<float> dist(iPtnNum);
cv::Point2f F1(x0 - c*cos(t), y0 - c*sin(t)), F2(x0 + c*cos(t), y0 + c*sin(t));
std::vector<float> dist(iPtnNum);
for (int k = 0; k < iPtnNum; k++) {
dist[k] = fabs(((float)cv::norm(cv::Point2f((float)taPoint[k].dX, (float)taPoint[k].dY) - f1) + (float)cv::norm(cv::Point2f((float)taPoint[k].dX, (float)taPoint[k].dY) - f2)) - 2.0f*l);
dist[k] = fabs(((float)cv::norm(cv::Point2f((float)taPoint[k].dX, (float)taPoint[k].dY) - F1) + (float)cv::norm(cv::Point2f((float)taPoint[k].dX, (float)taPoint[k].dY) - F2)) - 2.0f*l);
sum_dist += dist[k];
}
err = sum_dist;
if (sum_dist < FLT_EPSILON)
break;
/*calculate weight*/
calc_weights_param(dist, iPtnNum, &weights[0], (float)dRobustCoef);
if (std::abs(err - min_err) < FLT_EPSILON)
break;
min_err = err;
}
tpEllipse.dL = linebuf[2], tpEllipse.dS = linebuf[3], tpEllipse.dQ = linebuf[4], tpEllipse.dXo = linebuf[0], tpEllipse.dYo = linebuf[1];
return FUNC_OK;
}
......
eyemLib/eyemLib.h
......@@ -645,7 +645,7 @@ extern "C" {
EXPORTS int eyemEdge1dGenPosRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, double dSigma, double dAmpThresh, IntPtr *hObject);
EXPORTS int eyemEdge1dFitLine(IntPtr hObject, int iClippingEndPoints, int iMaxIterations, double dRobustCoef, EyemOcsDABC *tpLine);
EXPORTS int eyemEdge1dFitCircle(IntPtr hObject, int iClippingEndPoints, int iMaxIterations, double dRobustCoef, EyemOcsDXYR *tpCircle);
EXPORTS int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, IntPtr *hObject);
EXPORTS int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int nCalipers, int iSearchDirec, double dAmpThreshold, const char *ccTransition, IntPtr *hObject);
EXPORTS bool eyemEdge1dGenMeasureFree(IntPtr hObject);
#ifdef __cplusplus
......
eyemLib/eyemLib.vcxproj
......@@ -85,6 +85,7 @@
<LinkIncremental>false</LinkIncremental>
<IncludePath>D:\opencv420\build\include;D:\opencv420\build\include\opencv2;D:\tbb2017_20170604oss\include;D:\zxing-cpp-master\core\src;D:\zxing-cpp-master\opencv\src;$(IncludePath)</IncludePath>
<LibraryPath>D:\opencv420\build\x64\vc14\lib;D:\tbb2017_20170604oss\lib\intel64\vc14;D:\zxing-cpp-master\build\Release;$(LibraryPath)</LibraryPath>
<TargetExt>.dll</TargetExt>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
<ClCompile>
......
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