source: flair-src/trunk/lib/FlairVisionFilter/src/HoughLines.cpp@ 415

Last change on this file since 415 was 338, checked in by Sanahuja Guillaume, 3 years ago

remove opencv dep

File size: 9.3 KB
Line 
1// created: 2015/10/07
2// filename: HoughLines.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: HoughLines
10//
11//
12/*********************************************************************/
13
14#include "HoughLines.h"
15#include "VisionFilter.h"
16#include <Image.h>
17#include <OneAxisRotation.h>
18#include <Matrix.h>
19#include <Layout.h>
20#include <GroupBox.h>
21#include <SpinBox.h>
22#include <DoubleSpinBox.h>
23#include <typeinfo>
24#include <math.h>
25
26#define MAX_LINES 100
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31
32class HoughLines_impl {
33public:
34 HoughLines_impl(flair::filter::HoughLines *self,const LayoutPosition* position,string name,const Vector2Df *inPtRefGlobal,float inThetaRefGlobal) {
35 this->self=self;
36 GroupBox* reglages_groupbox=new GroupBox(position,name);
37 rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"pre rotation",OneAxisRotation::PostRotation);
38 fullRhoStep=new SpinBox(reglages_groupbox->NewRow(),"full rho step:","pixels",0,255,1,1);
39 fullThetaStep=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"full theta step:","degrees",0,90,1,1);
40 trackingRhoStep=new SpinBox(reglages_groupbox->NewRow(),"tracking rho step:","pixels",0,255,1,1);
41 trackingThetaStep=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"tracking theta step:","degrees",0,90,1,1);
42 trackingDeltaTheta=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"tracking delta theta:","degrees",0,90,1,1);
43 nbPoints=new SpinBox(reglages_groupbox->NewRow(),"nb points:",0,10000,10,100);
44
45 isTracking=false;
46 //linesStorage = (CvMat*)AllocFunction(sizeof(CvMat));
47 //linesStorage->data.fl = (float*)AllocFunction(MAX_LINES*2*sizeof(float));//was CV_32FC2, 2 channels
48 //gimg = (IplImage*)AllocFunction(sizeof(IplImage));
49
50 //init output matrix of same size as init
51 MatrixDescriptor* desc=new MatrixDescriptor(4,1);
52 desc->SetElementName(0,0,"distance");
53 desc->SetElementName(1,0,"orientation rad");
54 desc->SetElementName(2,0,"orientation deg");
55 desc->SetElementName(3,0,"line_detected");
56 output=new Matrix(self,desc,floatType,name);
57 delete desc;
58
59 try{
60 Image::Type const &imageType=dynamic_cast<Image::Type const &>(((IODevice*)(self->Parent()))->GetOutputDataType());
61 if(imageType.GetFormat()!=Image::Type::Format::Gray) {
62 self->Err("input image is not gray\n");
63 }
64 } catch(std::bad_cast& bc) {
65 self->Err("io type mismatch\n");
66 }
67
68 thetaRefGlobal=inThetaRefGlobal;
69 if (inPtRefGlobal==NULL) {
70 ptRefGlobal=NULL;
71 } else { //rotation from global coordinates to hough space
72 ptRefGlobal =new Vector2Df(inPtRefGlobal->x,inPtRefGlobal->y);
73 }
74
75 }
76
77 ~HoughLines_impl() {
78 //FreeFunction((char*)(linesStorage->data.fl));
79 //FreeFunction((char*)linesStorage);
80 //FreeFunction((char*)gimg);
81 if(ptRefGlobal!=NULL) delete ptRefGlobal;
82 }
83
84 void UpdateFrom(const io_data *data){
85 Image *img=(Image*)data;
86 /*
87 gimg->width=img->GetDataType().GetWidth();
88 gimg->height=img->GetDataType().GetHeight();
89 gimg->imageData=img->buffer;
90 gimg->imageSize=img->GetDataType().GetSize();
91
92 size_t nbLines;
93 Vector2Df ptRef;
94 float thetaRef;
95
96 if (ptRefGlobal==NULL) {
97 ptRef.x=img->GetDataType().GetWidth()/2;
98 ptRef.y=img->GetDataType().GetHeight()/2;
99 } else { //rotation from global coordinates to hough space
100 Vector3Df ptRef3D(ptRefGlobal->x,ptRefGlobal->y,0);
101 rotation->ComputeRotation(ptRef3D);
102 ptRef.x=ptRef3D.x;
103 ptRef.y=ptRef3D.y;
104 }
105
106 //orientation in global space is rotated by pi/2 compared to orientation in hough space
107 //eg: vertical line has a 0 orientation in global space (north), but a pi/2 (or -pi/2) orientation in hough space (theta)
108 thetaRef=thetaRefGlobal+CV_PI/2+rotation->GetAngle();
109 if (thetaRef>CV_PI) thetaRef-=CV_PI;
110 if (thetaRef<0) thetaRef+=CV_PI;
111
112 data->GetMutex();
113 if(!isTracking) {
114 nbLines=dspHoughLines2(gimg,linesStorage,CV_HOUGH_STANDARD,
115 fullRhoStep->Value(),fullThetaStep->Value()*CV_PI/180,
116 nbPoints->Value());
117 } else {
118 nbLines=dspHoughLinesTracking(gimg,linesStorage,CV_HOUGH_STANDARD,
119 trackingRhoStep->Value(),
120 theta,trackingDeltaTheta->Value()*CV_PI/180,
121 trackingThetaStep->Value()*CV_PI/180,
122 nbPoints->Value());
123 // nbLines=dspHoughLines2_test(gimg,linesStorage,CV_HOUGH_STANDARD,trackingRhoStep->Value(),thetaPrev-trackingDeltaTheta->Value()*CV_PI/180,thetaPrev+trackingDeltaTheta->Value()*CV_PI/180,trackingThetaStep->Value()*CV_PI/180,nbPoints->Value());
124 }
125 data->ReleaseMutex();
126
127 //saturation sur le nb max de ligne, au cas ou le DSP n'aurait pas la meme valeur
128 if(nbLines>MAX_LINES) {
129 self->Warn("erreur nb lines %u>%u\n",nbLines,MAX_LINES);
130 nbLines=MAX_LINES;
131 }
132 float rho;
133 bool noLine=!SelectBestLine(linesStorage,nbLines,rho,theta);
134
135 if (noLine) {
136 isTracking=false;
137 } else {
138 isTracking=true;
139 // float thetaRef=0;
140
141 //line equation is ax+by+c=0 with a=cos(theta), b=sin(theta) and c=-rho
142 //distance from point xRef,yRef to the line is (a.xRef+b.yRef+c)/sqrt(a*a+b*b)
143 distance=-(cosf(theta)*ptRef.x+sinf(theta)*ptRef.y-rho);
144
145 orientation=theta-thetaRef;
146 if (orientation<-CV_PI/2) {
147 orientation+=CV_PI;
148 distance=-distance;
149 }
150 if (orientation>CV_PI/2) {
151 orientation-=CV_PI;
152 distance=-distance;
153 }
154
155 //printf("=> pour theta=%f et rho=%f, distance au point(%f,%f)=%f\n",theta,rho,xRef,yRef,distance);
156 }
157
158 output->GetMutex();
159 output->SetValueNoMutex(0,0,distance);
160 output->SetValueNoMutex(1,0,orientation);
161 output->SetValueNoMutex(2,0,orientation*180/CV_PI);
162 if(noLine) {
163 output->SetValueNoMutex(3,0,0);
164 } else {
165 output->SetValueNoMutex(3,0,1);
166 }
167 output->ReleaseMutex();
168*/
169 output->SetDataTime(data->DataTime());
170 };
171
172 Matrix *output;
173
174private:/*
175 //select best line. Returns false if no line found
176 bool SelectBestLine(CvMat* linesStorage, size_t nbLines, float &rho, float &theta) {
177 if(nbLines==0) {
178 return false;
179 }
180 //one line is found
181 if (nbLines==1) {
182 rho=linesStorage->data.fl[0];
183 theta=linesStorage->data.fl[1];
184 //printf("rho=%f,theta=%f (one line)\n",rho,theta);
185 return true;
186 }
187 //lines are ordered by quality, the first one will be our reference
188 float thetaRef=linesStorage->data.fl[1];
189 float thetaRefErrorSum=0;
190 float rhoSum=linesStorage->data.fl[0];
191 //printf("rho=%f,theta=%f (first of multilines)\n",rhoSum,thetaRef);
192 for(int i=1;i<nbLines;i++) {
193 //printf("rho=%f,theta=%f (multilines)\n",linesStorage->data.fl[2*i],linesStorage->data.fl[2*i+1]);
194 float thetaDiff=linesStorage->data.fl[2*i+1]-thetaRef;
195 float rhoLine=linesStorage->data.fl[2*i];
196 if (thetaDiff>CV_PI/2) {
197 thetaDiff-=CV_PI;
198 rhoLine=-rhoLine;
199 } else if (thetaDiff<-CV_PI/2) {
200 thetaDiff+=CV_PI;
201 rhoLine=-rhoLine;
202 }
203 thetaRefErrorSum += thetaDiff;
204 rhoSum+=rhoLine;
205 }
206 rho=rhoSum/nbLines;
207 theta=thetaRef+thetaRefErrorSum/nbLines;
208 if (theta<0) {
209 theta+=CV_PI;
210 rho=-rho;
211 }
212 if (theta>CV_PI) {
213 theta-=CV_PI;
214 rho=-rho;
215 }
216 return true;
217 }
218*/
219 flair::filter::HoughLines *self;
220 OneAxisRotation* rotation;
221 SpinBox *fullRhoStep,*trackingRhoStep,*nbPoints;
222 DoubleSpinBox *fullThetaStep,*trackingThetaStep,*trackingDeltaTheta;
223 bool isTracking;
224 float theta;
225 float distance,orientation;
226 Vector2Df* ptRefGlobal;
227 float thetaRefGlobal;
228 //CvMat* linesStorage;
229 //IplImage *gimg;
230};
231
232namespace flair { namespace filter {
233
234HoughLines::HoughLines(const IODevice* parent,const LayoutPosition* position,string name,const Vector2Df *inPtRefGlobal,float inThetaRefGlobal) : IODevice(parent,name) {
235 pimpl_=new HoughLines_impl(this,position,name,inPtRefGlobal,inThetaRefGlobal);
236
237}
238
239HoughLines::~HoughLines(void) {
240 delete pimpl_;
241}
242
243void HoughLines::UpdateFrom(const io_data *data) {
244 pimpl_->UpdateFrom(data);
245 ProcessUpdate(pimpl_->output);
246}
247
248bool HoughLines::isLineDetected() const {
249 if(pimpl_->output->Value(3,0)==1) {
250 return true;
251 } else {
252 return false;
253 }
254}
255
256float HoughLines::GetOrientation(void) const {
257 return pimpl_->output->Value(1,0);
258}
259
260float HoughLines::GetDistance(void) const {
261 return pimpl_->output->Value(0,0);
262}
263
264Matrix *HoughLines::Output(void) const {
265 return pimpl_->output;
266}
267
268} // end namespace filter
269} // end namespace flair
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