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SpireCV/algorithm/ellipse_det/ellipse_detector.h

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#ifndef SPIRE_ELLIPSEDETECTOR_H
#define SPIRE_ELLIPSEDETECTOR_H
#include <iostream>
#include <string>
#include <vector>
#include <fstream>
#include <opencv2/opencv.hpp>
#include <unordered_map>
#ifdef _WIN32
/*
* Define architecture flags so we don't need to include windows.h.
* Avoiding windows.h makes it simpler to use windows sockets in conjunction
* with dirent.h.
*/
#if !defined(_68K_) && !defined(_MPPC_) && !defined(_X86_) && !defined(_IA64_) && !defined(_AMD64_) && defined(_M_IX86)
# define _X86_
#endif
#if !defined(_68K_) && !defined(_MPPC_) && !defined(_X86_) && !defined(_IA64_) && !defined(_AMD64_) && defined(_M_AMD64)
#define _AMD64_
#endif
#include <stdio.h>
#include <stdarg.h>
#include <windef.h>
#include <winbase.h>
#include <wchar.h>
#include <string.h>
#include <stdlib.h>
#include <malloc.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <errno.h>
/* Indicates that d_type field is available in dirent structure */
#define _DIRENT_HAVE_D_TYPE
/* Indicates that d_namlen field is available in dirent structure */
#define _DIRENT_HAVE_D_NAMLEN
/* Entries missing from MSVC 6.0 */
#if !defined(FILE_ATTRIBUTE_DEVICE)
# define FILE_ATTRIBUTE_DEVICE 0x40
#endif
/* File type and permission flags for stat(), general mask */
#if !defined(S_IFMT)
# define S_IFMT _S_IFMT
#endif
/* Directory bit */
#if !defined(S_IFDIR)
# define S_IFDIR _S_IFDIR
#endif
/* Character device bit */
#if !defined(S_IFCHR)
# define S_IFCHR _S_IFCHR
#endif
/* Pipe bit */
#if !defined(S_IFFIFO)
# define S_IFFIFO _S_IFFIFO
#endif
/* Regular file bit */
#if !defined(S_IFREG)
# define S_IFREG _S_IFREG
#endif
/* Read permission */
#if !defined(S_IREAD)
# define S_IREAD _S_IREAD
#endif
/* Write permission */
#if !defined(S_IWRITE)
# define S_IWRITE _S_IWRITE
#endif
/* Execute permission */
#if !defined(S_IEXEC)
# define S_IEXEC _S_IEXEC
#endif
/* Pipe */
#if !defined(S_IFIFO)
# define S_IFIFO _S_IFIFO
#endif
/* Block device */
#if !defined(S_IFBLK)
# define S_IFBLK 0
#endif
/* Link */
#if !defined(S_IFLNK)
# define S_IFLNK 0
#endif
/* Socket */
#if !defined(S_IFSOCK)
# define S_IFSOCK 0
#endif
/* Read user permission */
#if !defined(S_IRUSR)
# define S_IRUSR S_IREAD
#endif
/* Write user permission */
#if !defined(S_IWUSR)
# define S_IWUSR S_IWRITE
#endif
/* Execute user permission */
#if !defined(S_IXUSR)
# define S_IXUSR 0
#endif
/* Read group permission */
#if !defined(S_IRGRP)
# define S_IRGRP 0
#endif
/* Write group permission */
#if !defined(S_IWGRP)
# define S_IWGRP 0
#endif
/* Execute group permission */
#if !defined(S_IXGRP)
# define S_IXGRP 0
#endif
/* Read others permission */
#if !defined(S_IROTH)
# define S_IROTH 0
#endif
/* Write others permission */
#if !defined(S_IWOTH)
# define S_IWOTH 0
#endif
/* Execute others permission */
#if !defined(S_IXOTH)
# define S_IXOTH 0
#endif
/* Maximum length of file name */
#if !defined(PATH_MAX)
# define PATH_MAX MAX_PATH
#endif
#if !defined(FILENAME_MAX)
# define FILENAME_MAX MAX_PATH
#endif
#if !defined(NAME_MAX)
# define NAME_MAX FILENAME_MAX
#endif
/* File type flags for d_type */
#define DT_UNKNOWN 0
#define DT_REG S_IFREG
#define DT_DIR S_IFDIR
#define DT_FIFO S_IFIFO
#define DT_SOCK S_IFSOCK
#define DT_CHR S_IFCHR
#define DT_BLK S_IFBLK
#define DT_LNK S_IFLNK
/* Macros for converting between st_mode and d_type */
#define IFTODT(mode) ((mode) & S_IFMT)
#define DTTOIF(type) (type)
/*
* File type macros. Note that block devices, sockets and links cannot be
* distinguished on Windows and the macros S_ISBLK, S_ISSOCK and S_ISLNK are
* only defined for compatibility. These macros should always return false
* on Windows.
*/
#if !defined(S_ISFIFO)
# define S_ISFIFO(mode) (((mode) & S_IFMT) == S_IFIFO)
#endif
#if !defined(S_ISDIR)
# define S_ISDIR(mode) (((mode) & S_IFMT) == S_IFDIR)
#endif
#if !defined(S_ISREG)
# define S_ISREG(mode) (((mode) & S_IFMT) == S_IFREG)
#endif
#if !defined(S_ISLNK)
# define S_ISLNK(mode) (((mode) & S_IFMT) == S_IFLNK)
#endif
#if !defined(S_ISSOCK)
# define S_ISSOCK(mode) (((mode) & S_IFMT) == S_IFSOCK)
#endif
#if !defined(S_ISCHR)
# define S_ISCHR(mode) (((mode) & S_IFMT) == S_IFCHR)
#endif
#if !defined(S_ISBLK)
# define S_ISBLK(mode) (((mode) & S_IFMT) == S_IFBLK)
#endif
/* Return the exact length of d_namlen without zero terminator */
#define _D_EXACT_NAMLEN(p) ((p)->d_namlen)
/* Return number of bytes needed to store d_namlen */
#define _D_ALLOC_NAMLEN(p) (PATH_MAX)
#ifdef __cplusplus
extern "C" {
#endif
/* Wide-character version */
struct _wdirent {
/* Always zero */
long d_ino;
/* Structure size */
unsigned short d_reclen;
/* Length of name without \0 */
size_t d_namlen;
/* File type */
int d_type;
/* File name */
wchar_t d_name[PATH_MAX];
};
typedef struct _wdirent _wdirent;
struct _WDIR {
/* Current directory entry */
struct _wdirent ent;
/* Private file data */
WIN32_FIND_DATAW data;
/* True if data is valid */
int cached;
/* Win32 search handle */
HANDLE handle;
/* Initial directory name */
wchar_t *patt;
};
typedef struct _WDIR _WDIR;
static _WDIR *_wopendir(const wchar_t *dirname);
static struct _wdirent *_wreaddir(_WDIR *dirp);
static int _wclosedir(_WDIR *dirp);
static void _wrewinddir(_WDIR* dirp);
/* For compatibility with Symbian */
#define wdirent _wdirent
#define WDIR _WDIR
#define wopendir _wopendir
#define wreaddir _wreaddir
#define wclosedir _wclosedir
#define wrewinddir _wrewinddir
/* Multi-byte character versions */
struct dirent {
/* Always zero */
long d_ino;
/* Structure size */
unsigned short d_reclen;
/* Length of name without \0 */
size_t d_namlen;
/* File type */
int d_type;
/* File name */
char d_name[PATH_MAX];
};
typedef struct dirent dirent;
struct DIR {
struct dirent ent;
struct _WDIR *wdirp;
};
typedef struct DIR DIR;
static DIR *opendir(const char *dirname);
static struct dirent *readdir(DIR *dirp);
static int closedir(DIR *dirp);
static void rewinddir(DIR* dirp);
/* Internal utility functions */
static WIN32_FIND_DATAW *dirent_first(_WDIR *dirp);
static WIN32_FIND_DATAW *dirent_next(_WDIR *dirp);
static int dirent_mbstowcs_s(
size_t *pReturnValue,
wchar_t *wcstr,
size_t sizeInWords,
const char *mbstr,
size_t count);
static int dirent_wcstombs_s(
size_t *pReturnValue,
char *mbstr,
size_t sizeInBytes,
const wchar_t *wcstr,
size_t count);
static void dirent_set_errno(int error);
/*
* Open directory stream DIRNAME for read and return a pointer to the
* internal working area that is used to retrieve individual directory
* entries.
*/
static _WDIR*
_wopendir(
const wchar_t *dirname)
{
_WDIR *dirp = NULL;
int error;
/* Must have directory name */
if (dirname == NULL || dirname[0] == '\0') {
dirent_set_errno(ENOENT);
return NULL;
}
/* Allocate new _WDIR structure */
dirp = (_WDIR*)malloc(sizeof(struct _WDIR));
if (dirp != NULL) {
DWORD n;
/* Reset _WDIR structure */
dirp->handle = INVALID_HANDLE_VALUE;
dirp->patt = NULL;
dirp->cached = 0;
/* Compute the length of full path plus zero terminator */
n = GetFullPathNameW(dirname, 0, NULL, NULL);
/* Allocate room for absolute directory name and search pattern */
dirp->patt = (wchar_t*)malloc(sizeof(wchar_t) * n + 16);
if (dirp->patt) {
/*
* Convert relative directory name to an absolute one. This
* allows rewinddir() to function correctly even when current
* working directory is changed between opendir() and rewinddir().
*/
n = GetFullPathNameW(dirname, n, dirp->patt, NULL);
if (n > 0) {
wchar_t *p;
/* Append search pattern \* to the directory name */
p = dirp->patt + n;
if (dirp->patt < p) {
switch (p[-1]) {
case '\\':
case '/':
case ':':
/* Directory ends in path separator, e.g. c:\temp\ */
/*NOP*/;
break;
default:
/* Directory name doesn't end in path separator */
*p++ = '\\';
}
}
*p++ = '*';
*p = '\0';
/* Open directory stream and retrieve the first entry */
if (dirent_first(dirp)) {
/* Directory stream opened successfully */
error = 0;
}
else {
/* Cannot retrieve first entry */
error = 1;
dirent_set_errno(ENOENT);
}
}
else {
/* Cannot retrieve full path name */
dirent_set_errno(ENOENT);
error = 1;
}
}
else {
/* Cannot allocate memory for search pattern */
error = 1;
}
}
else {
/* Cannot allocate _WDIR structure */
error = 1;
}
/* Clean up in case of error */
if (error && dirp) {
_wclosedir(dirp);
dirp = NULL;
}
return dirp;
}
/*
* Read next directory entry. The directory entry is returned in dirent
* structure in the d_name field. Individual directory entries returned by
* this function include regular files, sub-directories, pseudo-directories
* "." and ".." as well as volume labels, hidden files and system files.
*/
static struct _wdirent*
_wreaddir(
_WDIR *dirp)
{
WIN32_FIND_DATAW *datap;
struct _wdirent *entp;
/* Read next directory entry */
datap = dirent_next(dirp);
if (datap) {
size_t n;
DWORD attr;
/* Pointer to directory entry to return */
entp = &dirp->ent;
/*
* Copy file name as wide-character string. If the file name is too
* long to fit in to the destination buffer, then truncate file name
* to PATH_MAX characters and zero-terminate the buffer.
*/
n = 0;
while (n + 1 < PATH_MAX && datap->cFileName[n] != 0) {
entp->d_name[n] = datap->cFileName[n];
n++;
}
dirp->ent.d_name[n] = 0;
/* Length of file name excluding zero terminator */
entp->d_namlen = n;
/* File type */
attr = datap->dwFileAttributes;
if ((attr & FILE_ATTRIBUTE_DEVICE) != 0) {
entp->d_type = DT_CHR;
}
else if ((attr & FILE_ATTRIBUTE_DIRECTORY) != 0) {
entp->d_type = DT_DIR;
}
else {
entp->d_type = DT_REG;
}
/* Reset dummy fields */
entp->d_ino = 0;
entp->d_reclen = sizeof(struct _wdirent);
}
else {
/* Last directory entry read */
entp = NULL;
}
return entp;
}
/*
* Close directory stream opened by opendir() function. This invalidates the
* DIR structure as well as any directory entry read previously by
* _wreaddir().
*/
static int
_wclosedir(
_WDIR *dirp)
{
int ok;
if (dirp) {
/* Release search handle */
if (dirp->handle != INVALID_HANDLE_VALUE) {
FindClose(dirp->handle);
dirp->handle = INVALID_HANDLE_VALUE;
}
/* Release search pattern */
if (dirp->patt) {
free(dirp->patt);
dirp->patt = NULL;
}
/* Release directory structure */
free(dirp);
ok = /*success*/0;
}
else {
/* Invalid directory stream */
dirent_set_errno(EBADF);
ok = /*failure*/-1;
}
return ok;
}
/*
* Rewind directory stream such that _wreaddir() returns the very first
* file name again.
*/
static void
_wrewinddir(
_WDIR* dirp)
{
if (dirp) {
/* Release existing search handle */
if (dirp->handle != INVALID_HANDLE_VALUE) {
FindClose(dirp->handle);
}
/* Open new search handle */
dirent_first(dirp);
}
}
/* Get first directory entry (internal) */
static WIN32_FIND_DATAW*
dirent_first(
_WDIR *dirp)
{
WIN32_FIND_DATAW *datap;
/* Open directory and retrieve the first entry */
dirp->handle = FindFirstFileW(dirp->patt, &dirp->data);
if (dirp->handle != INVALID_HANDLE_VALUE) {
/* a directory entry is now waiting in memory */
datap = &dirp->data;
dirp->cached = 1;
}
else {
/* Failed to re-open directory: no directory entry in memory */
dirp->cached = 0;
datap = NULL;
}
return datap;
}
/* Get next directory entry (internal) */
static WIN32_FIND_DATAW*
dirent_next(
_WDIR *dirp)
{
WIN32_FIND_DATAW *p;
/* Get next directory entry */
if (dirp->cached != 0) {
/* A valid directory entry already in memory */
p = &dirp->data;
dirp->cached = 0;
}
else if (dirp->handle != INVALID_HANDLE_VALUE) {
/* Get the next directory entry from stream */
if (FindNextFileW(dirp->handle, &dirp->data) != FALSE) {
/* Got a file */
p = &dirp->data;
}
else {
/* The very last entry has been processed or an error occured */
FindClose(dirp->handle);
dirp->handle = INVALID_HANDLE_VALUE;
p = NULL;
}
}
else {
/* End of directory stream reached */
p = NULL;
}
return p;
}
/*
* Open directory stream using plain old C-string.
*/
static DIR*
opendir(
const char *dirname)
{
struct DIR *dirp;
int error;
/* Must have directory name */
if (dirname == NULL || dirname[0] == '\0') {
dirent_set_errno(ENOENT);
return NULL;
}
/* Allocate memory for DIR structure */
dirp = (DIR*)malloc(sizeof(struct DIR));
if (dirp) {
wchar_t wname[PATH_MAX];
size_t n;
/* Convert directory name to wide-character string */
error = dirent_mbstowcs_s(&n, wname, PATH_MAX, dirname, PATH_MAX);
if (!error) {
/* Open directory stream using wide-character name */
dirp->wdirp = _wopendir(wname);
if (dirp->wdirp) {
/* Directory stream opened */
error = 0;
}
else {
/* Failed to open directory stream */
error = 1;
}
}
else {
/*
* Cannot convert file name to wide-character string. This
* occurs if the string contains invalid multi-byte sequences or
* the output buffer is too small to contain the resulting
* string.
*/
error = 1;
}
}
else {
/* Cannot allocate DIR structure */
error = 1;
}
/* Clean up in case of error */
if (error && dirp) {
free(dirp);
dirp = NULL;
}
return dirp;
}
/*
* Read next directory entry.
*
* When working with text consoles, please note that file names returned by
* readdir() are represented in the default ANSI code page while any output to
* console is typically formatted on another code page. Thus, non-ASCII
* characters in file names will not usually display correctly on console. The
* problem can be fixed in two ways: (1) change the character set of console
* to 1252 using chcp utility and use Lucida Console font, or (2) use
* _cprintf function when writing to console. The _cprinf() will re-encode
* ANSI strings to the console code page so many non-ASCII characters will
* display correcly.
*/
static struct dirent*
readdir(
DIR *dirp)
{
WIN32_FIND_DATAW *datap;
struct dirent *entp;
/* Read next directory entry */
datap = dirent_next(dirp->wdirp);
if (datap) {
size_t n;
int error;
/* Attempt to convert file name to multi-byte string */
error = dirent_wcstombs_s(
&n, dirp->ent.d_name, PATH_MAX, datap->cFileName, PATH_MAX);
/*
* If the file name cannot be represented by a multi-byte string,
* then attempt to use old 8+3 file name. This allows traditional
* Unix-code to access some file names despite of unicode
* characters, although file names may seem unfamiliar to the user.
*
* Be ware that the code below cannot come up with a short file
* name unless the file system provides one. At least
* VirtualBox shared folders fail to do this.
*/
if (error && datap->cAlternateFileName[0] != '\0') {
error = dirent_wcstombs_s(
&n, dirp->ent.d_name, PATH_MAX,
datap->cAlternateFileName, PATH_MAX);
}
if (!error) {
DWORD attr;
/* Initialize directory entry for return */
entp = &dirp->ent;
/* Length of file name excluding zero terminator */
entp->d_namlen = n - 1;
/* File attributes */
attr = datap->dwFileAttributes;
if ((attr & FILE_ATTRIBUTE_DEVICE) != 0) {
entp->d_type = DT_CHR;
}
else if ((attr & FILE_ATTRIBUTE_DIRECTORY) != 0) {
entp->d_type = DT_DIR;
}
else {
entp->d_type = DT_REG;
}
/* Reset dummy fields */
entp->d_ino = 0;
entp->d_reclen = sizeof(struct dirent);
}
else {
/*
* Cannot convert file name to multi-byte string so construct
* an errornous directory entry and return that. Note that
* we cannot return NULL as that would stop the processing
* of directory entries completely.
*/
entp = &dirp->ent;
entp->d_name[0] = '?';
entp->d_name[1] = '\0';
entp->d_namlen = 1;
entp->d_type = DT_UNKNOWN;
entp->d_ino = 0;
entp->d_reclen = 0;
}
}
else {
/* No more directory entries */
entp = NULL;
}
return entp;
}
/*
* Close directory stream.
*/
static int
closedir(
DIR *dirp)
{
int ok;
if (dirp) {
/* Close wide-character directory stream */
ok = _wclosedir(dirp->wdirp);
dirp->wdirp = NULL;
/* Release multi-byte character version */
free(dirp);
}
else {
/* Invalid directory stream */
dirent_set_errno(EBADF);
ok = /*failure*/-1;
}
return ok;
}
/*
* Rewind directory stream to beginning.
*/
static void
rewinddir(
DIR* dirp)
{
/* Rewind wide-character string directory stream */
_wrewinddir(dirp->wdirp);
}
/* Convert multi-byte string to wide character string */
static int
dirent_mbstowcs_s(
size_t *pReturnValue,
wchar_t *wcstr,
size_t sizeInWords,
const char *mbstr,
size_t count)
{
int error;
#if defined(_MSC_VER) && _MSC_VER >= 1400
/* Microsoft Visual Studio 2005 or later */
error = mbstowcs_s(pReturnValue, wcstr, sizeInWords, mbstr, count);
#else
/* Older Visual Studio or non-Microsoft compiler */
size_t n;
/* Convert to wide-character string (or count characters) */
n = mbstowcs(wcstr, mbstr, sizeInWords);
if (!wcstr || n < count) {
/* Zero-terminate output buffer */
if (wcstr && sizeInWords) {
if (n >= sizeInWords) {
n = sizeInWords - 1;
}
wcstr[n] = 0;
}
/* Length of resuting multi-byte string WITH zero terminator */
if (pReturnValue) {
*pReturnValue = n + 1;
}
/* Success */
error = 0;
}
else {
/* Could not convert string */
error = 1;
}
#endif
return error;
}
/* Convert wide-character string to multi-byte string */
static int
dirent_wcstombs_s(
size_t *pReturnValue,
char *mbstr,
size_t sizeInBytes, /* max size of mbstr */
const wchar_t *wcstr,
size_t count)
{
int error;
#if defined(_MSC_VER) && _MSC_VER >= 1400
/* Microsoft Visual Studio 2005 or later */
error = wcstombs_s(pReturnValue, mbstr, sizeInBytes, wcstr, count);
#else
/* Older Visual Studio or non-Microsoft compiler */
size_t n;
/* Convert to multi-byte string (or count the number of bytes needed) */
n = wcstombs(mbstr, wcstr, sizeInBytes);
if (!mbstr || n < count) {
/* Zero-terminate output buffer */
if (mbstr && sizeInBytes) {
if (n >= sizeInBytes) {
n = sizeInBytes - 1;
}
mbstr[n] = '\0';
}
/* Lenght of resulting multi-bytes string WITH zero-terminator */
if (pReturnValue) {
*pReturnValue = n + 1;
}
/* Success */
error = 0;
}
else {
/* Cannot convert string */
error = 1;
}
#endif
return error;
}
/* Set errno variable */
static void
dirent_set_errno(
int error)
{
#if defined(_MSC_VER) && _MSC_VER >= 1400
/* Microsoft Visual Studio 2005 and later */
_set_errno(error);
#else
/* Non-Microsoft compiler or older Microsoft compiler */
errno = error;
#endif
}
#ifdef __cplusplus
}
#endif
#include <io.h>
#else
#include <dirent.h>
// #include </usr/include/x86_64-linux-gnu/sys/io.h>
#endif
#ifdef USE_OMP
#include <omp.h>
#else
int omp_get_max_threads();
int omp_get_thread_num();
// int omp_set_num_threads(int);
#endif
namespace yaed {
typedef std::vector<cv::Point> VP;
typedef std::vector< VP > VVP;
typedef unsigned int uint;
void _list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs = "", bool r = false);
std::vector<std::string> _split(const std::string& srcstr, const std::string& delimeter);
bool _startswith(const std::string& str, const std::string& start);
bool _endswith(const std::string& str, const std::string& end);
void _randperm(int n, int m, int arr[], bool sort_ = true);
/***************** math-related functions ****************/
float _atan2(float y, float x);
void _mean_std(std::vector<float>& vec, float& mean, float& std);
int inline _sgn(float val) { return (0.f < val) - (val < 0.f); }
float inline _ed2(const cv::Point& A, const cv::Point& B)
{
return float(((B.x - A.x)*(B.x - A.x) + (B.y - A.y)*(B.y - A.y)));
}
float _get_min_angle_PI(float alpha, float beta);
double inline _tic()
{
return (double)cv::getTickCount();
}
double inline _toc(double tic) // ms
{
return ((double)cv::getTickCount() - tic)*1000. / cv::getTickFrequency();
}
inline int _isnan(double x) { return x != x; }
void _tag_canny(cv::InputArray image, cv::OutputArray _edges,
cv::OutputArray _sobel_x, cv::OutputArray _sobel_y,
int apertureSize, bool L2gradient, double percent_ne);
void _find_contours_oneway(cv::Mat1b& image, VVP& segments, int iMinLength);
void _find_contours_eight(cv::Mat1b& image, std::vector<VVP>& segments, int iMinLength);
void _show_contours_eight(cv::Mat1b& image, std::vector<VVP>& segments, const char* title);
void _tag_find_contours(cv::Mat1b& image, VVP& segments, int iMinLength);
void _tag_show_contours(cv::Mat1b& image, VVP& segments, const char* title);
void _tag_show_contours(cv::Size& imsz, VVP& segments, const char* title);
bool _SortBottomLeft2TopRight(const cv::Point& lhs, const cv::Point& rhs);
bool _SortBottomLeft2TopRight2f(const cv::Point2f& lhs, const cv::Point2f& rhs);
bool _SortTopLeft2BottomRight(const cv::Point& lhs, const cv::Point& rhs);
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#define M_2__PI 6.28318530718
#define M_1_2_PI 1.57079632679
// Elliptical struct definition
class Ellipse
{
public:
float xc_;
float yc_;
float a_;
float b_;
float rad_;
float score_;
// Elliptic General equations Ax^2 + Bxy + Cy^2 + Dx + Ey + 1 = 0
float A_;
float B_;
float C_;
float D_;
float E_;
float F_;
Ellipse() : xc_(0.f), yc_(0.f), a_(0.f), b_(0.f), rad_(0.f), score_(0.f),
A_(0.f), B_(0.f), C_(0.f), D_(0.f), E_(0.f), F_(1.f) {}
Ellipse(float xc, float yc, float a, float b, float rad, float score = 0.f) : xc_(xc), yc_(yc), a_(a), b_(b), rad_(rad), score_(score) {}
Ellipse(const Ellipse& other) : xc_(other.xc_), yc_(other.yc_), a_(other.a_), b_(other.b_), rad_(other.rad_), score_(other.score_),
A_(other.A_), B_(other.B_), C_(other.C_), D_(other.D_), E_(other.E_) {}
void Draw(cv::Mat& img, const cv::Scalar& color, const int thickness)
{
if (IsValid())
ellipse(img, cv::Point(cvRound(xc_), cvRound(yc_)), cv::Size(cvRound(a_), cvRound(b_)), rad_ * 180.0 / CV_PI, 0.0, 360.0, color, thickness);
}
void Draw(cv::Mat3b& img, const int thickness)
{
cv::Scalar color(0, cvFloor(255.f * score_), 0);
if (IsValid())
ellipse(img, cv::Point(cvRound(xc_), cvRound(yc_)), cv::Size(cvRound(a_), cvRound(b_)), rad_ * 180.0 / CV_PI, 0.0, 360.0, color, thickness);
}
bool operator<(const Ellipse& other) const
{ // use for sorting
if (score_ == other.score_)
{
float lhs_e = b_ / a_;
float rhs_e = other.b_ / other.a_;
if (lhs_e == rhs_e)
{
return false;
}
return lhs_e > rhs_e;
}
return score_ > other.score_;
}
// Elliptic General equations Ax^2 + Bxy + Cy^2 + Dx + Ey + F = 0
void TransferFromGeneral() {
float denominator = (B_*B_ - 4 * A_*C_);
xc_ = (2 * C_*D_ - B_*E_) / denominator;
yc_ = (2 * A_*E_ - B_*D_) / denominator;
float pre = 2 * (A_*E_*E_ + C_*D_*D_ - B_*D_*E_ + denominator*F_);
float lst = sqrt((A_ - C_)*(A_ - C_) + B_*B_);
a_ = -sqrt(pre*(A_ + C_ + lst)) / denominator;
b_ = -sqrt(pre*(A_ + C_ - lst)) / denominator;
if (B_ == 0 && A_<C_)
rad_ = 0;
else if (B_ == 0 && A_>C_)
rad_ = CV_PI / 2;
else
rad_ = atan((C_ - A_ - lst) / B_);
}
// Elliptic General equations Ax^2 + Bxy + Cy^2 + Dx + Ey + F = 0
void TransferToGeneral() {
A_ = a_*a_*sin(rad_)*sin(rad_) + b_*b_*cos(rad_)*cos(rad_);
B_ = 2.f*(b_*b_ - a_*a_)*sin(rad_)*cos(rad_);
C_ = a_*a_*cos(rad_)*cos(rad_) + b_*b_*sin(rad_)*sin(rad_);
D_ = -2.f*A_*xc_ - B_*yc_;
E_ = -B_*xc_ - 2.f*C_*yc_;
F_ = A_*xc_*xc_ + B_*xc_*yc_ + C_*yc_*yc_ - a_*a_*b_*b_;
}
void GetRectangle(cv::Rect& rect) {
float sin_theta = sin(-rad_);
float cos_theta = cos(-rad_);
float A = a_*a_ * sin_theta * sin_theta + b_* b_ * cos_theta * cos_theta;
float B = 2 * (a_* a_ - b_ * b_) * sin_theta * cos_theta;
float C = a_* a_ * cos_theta * cos_theta + b_ * b_ * sin_theta * sin_theta;
float F = - a_ * a_ * b_ * b_;
float y = sqrt(4 * A * F / (B * B - 4 * A * C));
float y1 = -abs(y), y2 = abs(y);
float x = sqrt(4 * C * F / (B * B - 4 * C * A));
float x1 = -abs(x), x2 = abs(x);
rect = cv::Rect(int(round(xc_ + x1)), int(round(yc_ + y1)), int(round(x2 - x1)), int(round(y2 - y1)));
}
float Perimeter() {
// return 2*CV_PI*b_ + 4*(a_ - b_);
return CV_PI*(3.f*(a_ + b_) - sqrt((3.f*a_ + b_)*(a_ + 3.f*b_)));
}
float Area() {
return CV_PI*a_*b_;
}
bool IsValid() {
bool nan = isnan(xc_) || isnan(yc_) || isnan(a_) || isnan(b_) || isnan(rad_);
return !nan;
}
};
// Data available after selection strategy.
// They are kept in an associative array to:
// 1) avoid recomputing data when starting from same arcs
// 2) be reused in firther proprecessing
struct EllipseData
{
bool isValid;
float ta; // arc_a center line gradient
float tb; // arc_b
float ra; // gradient of a (slope of start of chord_1 and center of chord_2)
float rb; // gradient of b (slope of center of chord_1 and last of chord_2)
cv::Point2f Ma; // arc_a center of element
cv::Point2f Mb; // arc_b
cv::Point2f Cab; // center of ellipse
std::vector<float> Sa; // arc_a's center line of parallel chords
std::vector<float> Sb; // arc_b's center line of parallel chords
};
struct EllipseThreePoint
{
bool isValid;
cv::Point Cab;
VP ArcI;
VP ArcJ;
VP ArcK;
};
/********************** EllipseFitting functions **********************/
void _ellipse_foci(float *param, float *foci);
float _ellipse_normal_angle(float x, float y, float *foci);
float _angle_diff(float a, float b);
/*************************** CNC functions ****************************/
float _value4SixPoints(cv::Point2f p3, cv::Point2f p2, cv::Point2f p1, cv::Point2f p4, cv::Point2f p5, cv::Point2f p6);
/**************** ellipse-evaluation-related functions ****************/
void _load_ellipse_GT(const std::string& gt_file_name, std::vector<Ellipse> & gt_ellipses, bool is_angle_radians = true);
void _load_ellipse_DT(const std::string& dt_file_name, std::vector<Ellipse> & dt_ellipses, bool is_angle_radians = true);
bool _ellipse_overlap(const cv::Mat1b& gt, const cv::Mat1b& dt, float th);
float _ellipse_overlap_real(const cv::Mat1b& gt, const cv::Mat1b& dt);
int _bool_count(const std::vector<bool> vb);
float _ellipse_evaluate_one(const std::vector<Ellipse>& ell_gt, const std::vector<Ellipse>& ell_dt, const cv::Mat3b& img);
float _ellipse_evaluate(std::vector<std::string>& image_fns, std::vector<std::string>& gt_fns, std::vector<std::string>& dt_fns,
bool gt_angle_radians = true);
class EllipseDetector
{
// Parameters
// Preprocessing - Gaussian filter. See Sect [] in the paper
cv::Size szPreProcessingGaussKernel_; // size of the Gaussian filter in preprocessing step
double dPreProcessingGaussSigma_; // sigma of the Gaussian filter in the preprocessing step
// Selection strategy - Step 1 - Discard noisy or straight arcs. See Sect [] in the paper
int iMinEdgeLength_; // minimum edge size
float fMinOrientedRectSide_; // minumum size of the oriented bounding box containing the arc
float fMaxRectAxesRatio_; // maximum aspect ratio of the oriented bounding box containing the arc
// Selection strategy - Step 2 - Remove according to mutual convexities. See Sect [] in the paper
float fThrArcPosition_;
// Selection Strategy - Step 3 - Number of points considered for slope estimation when estimating the center. See Sect [] in the paper
unsigned uNs_; // Find at most Ns parallel chords.
// Selection strategy - Step 3 - Discard pairs of arcs if their estimated center is not close enough. See Sect [] in the paper
float fMaxCenterDistance_; // maximum distance in pixel between 2 center points
float fMaxCenterDistance2_; // _fMaxCenterDistance * _fMaxCenterDistance
// Validation - Points within a this threshold are considered to lie on the ellipse contour. See Sect [] in the paper
float fDistanceToEllipseContour_; // maximum distance between a point and the contour. See equation [] in the paper
// Validation - Assign a score. See Sect [] in the paper
float fMinScore_; // minimum score to confirm a detection
float fMinReliability_; // minimum auxiliary score to confirm a detection
double dPercentNe_;
float fT_CNC_;
float fT_TCN_L_; // filter lines
float fT_TCN_P_;
float fThre_r_;
// auxiliary variables
cv::Size szIm_; // input image size
std::vector<double> times_; // times_ is a vector containing the execution time of each step.
int ACC_N_SIZE; // size of accumulator N = B/A
int ACC_R_SIZE; // size of accumulator R = rho = atan(K)
int ACC_A_SIZE; // size of accumulator A
int* accN; // pointer to accumulator N
int* accR; // pointer to accumulator R
int* accA; // pointer to accumulator A
cv::Mat1f EO_;
VVP points_1, points_2, points_3, points_4; // vector of points, one for each convexity class
public:
// Constructor and Destructor
EllipseDetector(void);
~EllipseDetector(void);
// Detect the ellipses in the gray image
void Detect(cv::Mat3b& I, std::vector<Ellipse>& ellipses);
void Detect(cv::Mat& I, std::vector<Ellipse>& ellipses);
// Draw the first iTopN ellipses on output
void DrawDetectedEllipses(cv::Mat& output, std::vector<Ellipse>& ellipses, int iTopN = 0, int thickness = 2);
// Set the parameters of the detector
void SetParameters(cv::Size szPreProcessingGaussKernelSize,
double dPreProcessingGaussSigma,
float fThPosition,
float fMaxCenterDistance,
int iMinEdgeLength,
float fMinOrientedRectSide,
float fDistanceToEllipseContour,
float fMinScore,
float fMinReliability,
int iNs,
double dPercentNe,
float fT_CNC,
float fT_TCN_L,
float fT_TCN_P,
float fThre_r
);
void SetMCD(float fMaxCenterDistance);
// Return the execution time
double GetExecTime() {
double time_all(0);
for (size_t i = 0; i < times_.size(); i++) time_all += times_[i];
return time_all;
}
std::vector<double> GetTimes() { return times_; }
float countOfFindEllipse_;
float countOfGetFastCenter_;
private:
// keys for hash table
static const ushort PAIR_12 = 0x00;
static const ushort PAIR_23 = 0x01;
static const ushort PAIR_34 = 0x02;
static const ushort PAIR_14 = 0x03;
// generate keys from pair and indicse
uint inline GenerateKey(uchar pair, ushort u, ushort v);
void PreProcessing(cv::Mat1b& I, cv::Mat1b& arcs8);
void RemoveStraightLine(VVP& segments, VVP& segments_update, int id = 0);
void PreProcessing(cv::Mat1b& I, cv::Mat1b& DP, cv::Mat1b& DN);
void ClusterEllipses(std::vector<Ellipse>& ellipses);
// int FindMaxK(const std::vector<int>& v) const;
// int FindMaxN(const std::vector<int>& v) const;
// int FindMaxA(const std::vector<int>& v) const;
int FindMaxK(const int* v) const;
int FindMaxN(const int* v) const;
int FindMaxA(const int* v) const;
float GetMedianSlope(std::vector<cv::Point2f>& med, cv::Point2f& M, std::vector<float>& slopes);
void GetFastCenter(std::vector<cv::Point>& e1, std::vector<cv::Point>& e2, EllipseData& data);
float GetMinAnglePI(float alpha, float beta);
void DetectEdges13(cv::Mat1b& DP, VVP& points_1, VVP& points_3);
void DetectEdges24(cv::Mat1b& DN, VVP& points_2, VVP& points_4);
void ArcsCheck1234(VVP& points_1, VVP& points_2, VVP& points_3, VVP& points_4);
void FindEllipses(cv::Point2f& center,
VP& edge_i,
VP& edge_j,
VP& edge_k,
EllipseData& data_ij,
EllipseData& data_ik,
Ellipse& ell
);
cv::Point2f GetCenterCoordinates(EllipseData& data_ij, EllipseData& data_ik);
void Triplets124(VVP& pi,
VVP& pj,
VVP& pk,
std::unordered_map<uint, EllipseData>& data,
std::vector<Ellipse>& ellipses
);
void Triplets231(VVP& pi,
VVP& pj,
VVP& pk,
std::unordered_map<uint, EllipseData>& data,
std::vector<Ellipse>& ellipses
);
void Triplets342(VVP& pi,
VVP& pj,
VVP& pk,
std::unordered_map<uint, EllipseData>& data,
std::vector<Ellipse>& ellipses
);
void Triplets413(VVP& pi,
VVP& pj,
VVP& pk,
std::unordered_map<uint, EllipseData>& data,
std::vector<Ellipse>& ellipses
);
void Tic(unsigned idx = 0) //start
{
while (idx >= timesSign_.size()) {
timesSign_.push_back(0);
times_.push_back(.0);
}
timesSign_[idx] = 0;
timesSign_[idx]++;
times_[idx] = (double)cv::getTickCount();
}
void Toc(unsigned idx = 0, std::string step = "") //stop
{
assert(timesSign_[idx] == 1);
timesSign_[idx]++;
times_[idx] = ((double)cv::getTickCount() - times_[idx])*1000. / cv::getTickFrequency();
// #ifdef DEBUG_SPEED
std::cout << "Cost time: " << times_[idx] << " ms [" << idx << "] - " << step << std::endl;
if (idx == times_.size() - 1)
std::cout << "Totally cost time: " << this->GetExecTime() << " ms" << std::endl;
// #endif
}
private:
std::vector<int> timesSign_;
};
}
#endif // SPIRE_ELLIPSEDETECTOR_H
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