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191 lines
6.9 KiB
C
191 lines
6.9 KiB
C
5 years ago
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/*!
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* \file ArcDetector.h
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* \date 2020/04/28 16:41
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*
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* \author lucas.ma
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* Contact: lucas.ma@hzleaper.com
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*
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* TODO: null
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*
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* \note
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*/
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#ifndef _AnnulusSectorDetector_H__
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#define _AnnulusSectorDetector_H__
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#include "StdUtils.h"
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#include "CVUtils.h"
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#include "CyclopsEnums.h"
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#include "CyclopsModules.h"
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struct PeakCircleParamPack;
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enum PeakAlgoAccLevel;
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struct ArcCurve
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{
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ArcCurve() : mCircle(Vec3f(0, 0, 0)), mStartPnt(Point2f(0, 0)), mEndPnt(Point2f(0, 0)) {}
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ArcCurve(const Vec3f& circle, const Point2f& sp, const Point2f& ep) :
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mCircle(circle), mStartPnt(sp), mEndPnt(ep) {}
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float getAngle() const
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{
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Point2f dsp = mStartPnt - Point2f(mCircle[0], mCircle[1]);
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Point2f dep = mEndPnt - Point2f(mCircle[0], mCircle[1]);
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Point2f ns = dsp / sqrt(dsp.x * dsp.x + dsp.y* dsp.y);
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Point2f ne = dep / sqrt(dep.x * dep.x + dep.y * dep.y);
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float endAngle = fastAtan2(ne.y, ne.x);
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float startAngle = fastAtan2(ns.y, ns.x);
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float angle = endAngle - startAngle;
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if (startAngle > endAngle)
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angle = angle + 360;
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return angle;
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}
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bool isEmpty() const
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{
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return mCircle == Vec3f::zeros();
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}
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public:
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Vec3f mCircle;
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Point2f mStartPnt;
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Point2f mEndPnt;
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};
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class ArcDectector : public ICyclopsModuleInstance
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{
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public:
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/*! \fn setPolarity
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* Define polarity of circle edge, Polarity::Black2White to Polarity::Either, default to Polarity::Either, see also getPolarity()
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* \fn getPolarity
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* Get value of polarity of circle edge, see also setPolarity()
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*/
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DECLARE_PARAMETER2(Polarity, Polarity, Polarity::Black2White, Polarity::Either)
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/*! \fn setFindBy
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* Define find-by stategy of detector, FindBy::Best to FindBy::Last, default to FindBy::Best, see also getFindBy()
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* \fn getFindBy
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* Get value of find-by stategy of detector, see also setFindBy()
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*/
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DECLARE_PARAMETER2(FindBy, FindBy, FindBy::Best, FindBy::All)
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/*! \fn setACThres
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* Define minimum acceptable score, 0 to 100, default to 0, see also getACThres()
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* \fn getACThres
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* Get value of minimum acceptable score, see also setACThres()
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*/
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DECLARE_PARAMETER2(int, ACThres, 0, 100)
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/*! \fn setEdgeWidth
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* Define edge width, default to 3, see also getEdgeWidth()
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* The value should match the real edge width, which means the range that the edge transit from black to white or vice versa.
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* \fn getEdgeWidth
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* Get value of edge width, see also setEdgeWidth()
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*/
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DECLARE_PARAMETER(int, EdgeWidth)
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/*! \fn setRadii
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* Define the radii range [val1, val2]
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* \fn getRadiiStart
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* Get value of minimum circle radii
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* \fn getRadiiEnd
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* Get value of maximum circle radii
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*/
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DECLARE_PARAMETER_PAIR(unsigned int, Radii)
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/*! \fn setAccLevel
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* Define accuracy level of the algorithm, default to -1 means hardcoded defaults, see also getAccLevel()
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* Note: this value only works for PeakCircle.
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* \fn getAccLevel
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* Get value of accuracy level of the algorithm, see also setAccLevel()
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*/
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DECLARE_PARAMETER(int, AccLevel)
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/*! \fn setNormBy
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* Define how to normalized scores, default to NormBy::RegionMax, see also getNormBy()
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* \fn getNormBy
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* Get value of how to normalized scores, see also setNormBy()
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*/
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DECLARE_PARAMETER(NormBy, NormBy)
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public:
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ArcDectector(Polarity polarity, FindBy findby) : mPolarity(polarity), mFindBy(findby),
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mACThres(0), mEdgeWidth(3), mAccLevel(-1), mNormBy(NormBy::RegionMax) {};
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ArcDectector() : mPolarity(Polarity::Either), mFindBy(FindBy::Best),
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mACThres(0), mEdgeWidth(3), mAccLevel(-1), mNormBy(NormBy::RegionMax) {};
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virtual ~ArcDectector() {};
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typedef std::shared_ptr<ArcDectector> Ptr;
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DECL_GET_INSTANCE(ArcDectector::Ptr)
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/*! Detect the best single arc edge using the detector
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* @param img input image for detection
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* @param bestArc output arc: Vec3f(center.x, center.y, radii), vector<Point2f>{startPoint, endPoint}
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* @param estCenter input initial estimated center of circular arc, if estCenter == nullptr, then it will automatically use
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center of input image as estimated center
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* @param allScores output, represent the score distribution among defined radii range,
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* pass null if you don't want it
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* @param mask input mask for exclude some pixel from detection
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* @return score of the best one, 0 if we found nothing good
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*/
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virtual float detectBest(const Mat& img,
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ArcCurve& bestArc,
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Point2f* estCenter = nullptr,
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vector<float>* allScores = nullptr,
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Mat* mask = nullptr);
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/** @overload */
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/*! Detect the best single arc edge using the detector
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* @param img input image for detection
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* @param shapePnts input defined annulus sector ROI
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* @param bestArc output arc: Vec3f(center.x, center.y, radii), vector<Point2f>{startPoint, endPoint}
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* @param allScores output, represent the score distribution among defined radii range,
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* pass null if you don't want it
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* @return score of the best one, 0 if we found nothing good
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*/
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virtual float detectBest(const Mat& img,
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const vector<Point2f>& shapePnts,
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ArcCurve& bestArc,
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vector<float>* allScores = nullptr);
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/*! Detect multiple arc edge using the detector
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* @param img input image for detection
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* @param bestArc output arcs
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* @param bestScores output scores of several best arcs
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* @param estCenter input initial estimated center of circular arc, if estCenter == Point2f(0,0), then it will automatically use
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center of input image as estimated center
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* @param allScores output, represent the score distribution among defined radii range,
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* pass null if you don't want it
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* @param minCount minimum number of arcs there should be
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* @param maxCount maximum number of arcs there should be
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* @param mask input mask for exclude some pixel from detection
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* @return real number of arcs found in the image, it may exceed the provided limitation
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*/
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virtual int detectMulti(const Mat& img,
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vector<ArcCurve>* bestArcs,
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vector<float>* bestScores,
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Point2f* estCenter = nullptr,
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vector<float>* allScores = nullptr,
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int minCount = 0,
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int maxCount = 10,
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Mat* mask = nullptr);
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/** @overload */
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/*! Detect multiple arc edge using the detector
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* @param img input image for detection
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* @param shapePnts input defined annulus sector ROI
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* @param bestArc output arcs
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* @param bestScores output scores of several best arcs
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* @param input initial estimated center of circular arc, if estCenter == Point2f(0,0), then it will automatically use
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center of input image as estimated center
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* @param allScores output, represent the score distribution among defined radii range,
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* pass null if you don't want it
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* @param minCount minimum number of arcs there should be
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* @param maxCount maximum number of arcs there should be
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* @return real number of arcs found in the image, it may exceed the provided limitation
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*/
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virtual int detectMulti(const Mat& img,
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const vector<Point2f>& shapePnts,
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vector<ArcCurve>* bestArcs,
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vector<float>* bestScores,
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vector<float>* allScores = nullptr,
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int minCount = 0,
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int maxCount = 10);
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private:
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void genPeakArcParamPack(PeakCircleParamPack & pack, PeakAlgoAccLevel defaultAccLevel);
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};
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#endif // _AnnulusSectorDetector_H__
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