wheeldetect/src/algorithm/ImageProcess.cpp

#include "ImageProcess.h"
#include "qstring.h"
#include "CVUtils.h"
#include "ED.h"
#include "EDLines.h"
#include "EDCircles.h"

#include "CircleDetector.h"

//摩轮宏定义 表示该算法用于摩轮型号识别检测
#define MOTO_DETECT

ImageProcess::ImageProcess()
{
}


ImageProcess::~ImageProcess()
{
}
Mat _EnhanImg_sharpen(const Mat &img) {
	int mGainValue = 3;
	float amount = mGainValue * 0.5f;
	Mat blurred;

	int mSmoothValue = 3;
	GaussianBlur(img, blurred, Size(), mSmoothValue);
	Mat lowContrastMask = abs(img - blurred) < 5;
	Mat orResult = img * (1 + amount) + blurred * (-amount);
	img.copyTo(orResult, lowContrastMask);
	Mat openMat = orResult.clone();
	return openMat;
}
Mat findEdge2(const Mat &Src)
{
	Mat ret = Src.clone();
	Mat kernel = (Mat_<float>(5, 5) <<
		-1, -1, -1, -1, -1,
		-1, -1, -1, -1, -1,
		-1, -1, 24, -1, -1,
		-1, -1, -1, -1, -1,
		-1, -1, -1, -1, -1);
	filter2D(Src, ret, CV_8UC1, kernel);
	return ret;
}
#define REAIZE 2

cv::Mat ImageProcess::getForeImage(const Mat & src, const Mat &backgroundImg)
{
	Mat resizedBackgroundImg = backgroundImg;
	if (backgroundImg.size() != src.size()) {
		resize(backgroundImg, resizedBackgroundImg, src.size());
	}
	return (src - resizedBackgroundImg);
}

//输入一张灰度图，输出抠出的圆小图和半径，圆心坐标
cv::Mat ImageProcess::findCircle(const Mat &srcImg, Point2f& center, double &radius, bool bEqual, int filterSize, const CircleParam& cParam)
{
	Mat detectImg;
	Mat src = srcImg;

	cv::resize(src, detectImg, cv::Size(src.cols / REAIZE, src.rows / REAIZE));
	int bBaseX = detectImg.cols;
	int bBaseY = detectImg.rows;
	if(bEqual == true)
		equalizeHist(detectImg, detectImg);
	detectImg = _EnhanImg_sharpen(detectImg);

	EDCircles edcircles(detectImg);
	vector<mCircle> EDCircle = edcircles.getCircles();
	double maxR = 0;
	int nIndex = -1;
	for (int i = 0; i < EDCircle.size(); i++)
	{
		int startX = EDCircle[i].center.x - EDCircle[i].r;
		int startY = EDCircle[i].center.y - EDCircle[i].r;
		if (startX < 0 || startY < 0)
			continue;
		if (EDCircle[i].center.x + EDCircle[i].r > bBaseX || EDCircle[i].center.y + EDCircle[i].r > bBaseY)
			continue;
		if((EDCircle[i].r * REAIZE) < filterSize)//过滤半径小于指定宽度的圆
			continue;

		if (EDCircle[i].r > maxR)
		{
			maxR = EDCircle[i].r;
			nIndex = i;
		}
	}
	if (nIndex != -1)
	{
		int startX = EDCircle[nIndex].center.x * REAIZE - EDCircle[nIndex].r * REAIZE;
		int startY = EDCircle[nIndex].center.y * REAIZE - EDCircle[nIndex].r* REAIZE;
		radius = EDCircle[nIndex].r;
		int hight = 2 * radius * REAIZE;

		center.x = (EDCircle[nIndex].center.x * REAIZE);
		center.y = (EDCircle[nIndex].center.y * REAIZE);
		radius = radius * REAIZE;
		return DetectCircle(srcImg, Mat(), center, radius, bEqual, cParam);
	}
	else {
		center.x = srcImg.cols/2;
		center.y = srcImg.rows/2;
		radius = 0;
		return DetectCircle(srcImg, Mat(), center,radius,bEqual, cParam);
	}
}

Mat ImageProcess::DetectCircle(Mat srcImg, Mat background, Point2f& center, double& radius, bool bEqual, const CircleParam& cParam)
{
	Mat img;
	if (!background.empty())
	{
		img = getForeImage(srcImg, background);
	}
	else {
		img = srcImg;
	}
	Mat detectImg;
	if (bEqual == true)
	{
		equalizeHist(img, detectImg);
	}
	else 
	{
		detectImg = img;
	}
	
	CircleDetector cd;
	cd.setAlgoType(CircleDetector::PeakCircle);
	cd.setEdgeWidth(cParam.CircleEdgeWidth);
	if(cParam.CirclePolarity == 0)
		cd.setPolarity(Polarity::Black2White);
	else
		cd.setPolarity(Polarity::White2Black);

	cd.setFindBy(FindBy::Best);
	double difRadiusMin = radius - 100;
	double difRadiusMax = radius + 100;
	if (difRadiusMin < 0)
	{
		difRadiusMin = 0;
		difRadiusMax = abs(abs(center.y - (img.cols / 2)) - 50);
	}

	cd.setRadii(difRadiusMin, difRadiusMax);
	cd.setACThres(cParam.CircleACThres);
	vector<float> allScores;
	Vec3f bestCircle;
	float bestScore = cd.detectBest(detectImg, Point2f(center.x, center.y), bestCircle, &allScores);
	if (abs(bestScore) <= FLT_EPSILON || bestCircle == Vec3f::zeros()) {
		center.x = 0;
		center.y = 0;
		radius = 0;
		return Mat();
	}

	Point2f cen(bestCircle[0], bestCircle[1]);
	double r = bestCircle[2];
	Rect rect;
	rect.x = cen.x - r;
	rect.y = cen.y - r;
	if (rect.x < 0)
		rect.x = 0;
	if (rect.y < 0)
		rect.y = 0;
	rect.width = 2 * r;
	rect.height = 2 * r;
	Mat s = srcImg(rect);
	center = cen;
	radius = r;
	return s;
}

//使用背景图做减法扣圆
cv::Mat ImageProcess::findCircleByBackground(const Mat &srcImg, const Mat& backgroundImg, Point2f& center, double &radius, bool bEqual, int filterSize, const CircleParam& cParam)
{
	Mat detectImg;
	Mat src = srcImg;

	cv::resize(src, detectImg, cv::Size(src.cols / REAIZE, src.rows / REAIZE));
	int bBaseX = detectImg.cols;
	int bBaseY = detectImg.rows;
	if (bEqual == true)
		equalizeHist(detectImg, detectImg);
	detectImg = _EnhanImg_sharpen(detectImg);

	EDCircles edcircles(detectImg);
	vector<mCircle> EDCircle = edcircles.getCircles();
	double maxR = 0;
	int nIndex = -1;
	for (int i = 0; i < EDCircle.size(); i++)
	{
		int startX = EDCircle[i].center.x - EDCircle[i].r;
		int startY = EDCircle[i].center.y - EDCircle[i].r;
		if (startX < 0 || startY < 0)
			continue;
		if (EDCircle[i].center.x + EDCircle[i].r > bBaseX || EDCircle[i].center.y + EDCircle[i].r > bBaseY)
			continue;
		if ((EDCircle[i].r * REAIZE) < filterSize)//过滤半径小于指定宽度的圆
			continue;

		if (EDCircle[i].r > maxR)
		{
			maxR = EDCircle[i].r;
			nIndex = i;
		}
	}
	if (nIndex != -1)
	{
		int startX = EDCircle[nIndex].center.x * REAIZE - EDCircle[nIndex].r * REAIZE;
		int startY = EDCircle[nIndex].center.y * REAIZE - EDCircle[nIndex].r* REAIZE;
		radius = EDCircle[nIndex].r;
		int hight = 2 * radius * REAIZE;

		center.x = (EDCircle[nIndex].center.x * REAIZE);
		center.y = (EDCircle[nIndex].center.y * REAIZE);
		radius = radius * REAIZE;
		return DetectCircle(srcImg, backgroundImg, center, radius, bEqual, cParam);
	}
	else {
		center.x = srcImg.cols / 2;
		center.y = srcImg.rows / 2;
		radius = 0;
		return DetectCircle(srcImg, backgroundImg, center, radius, bEqual, cParam);
	}
}