Examples with LineParametric2D_F32 georegression.struct.line.LineParametric2D_F32 used on opensource projects

Example 6 with LineParametric2D_F32

use of georegression.struct.line.LineParametric2D_F32 in project BoofCV by lessthanoptimal.

the class HoughTransformLinePolar method extractLines.

/**
 * Searches for local maximas and converts into lines.
 *
 * @return Found lines in the image.
 */
public FastQueue<LineParametric2D_F32> extractLines() {
    lines.reset();
    foundLines.reset();
    foundIntensity.reset();
    extractor.process(transform, null, null, null, foundLines);
    int w2 = transform.width / 2;
    for (int i = 0; i < foundLines.size(); i++) {
        Point2D_I16 p = foundLines.get(i);
        float r = (float) (r_max * (p.x - w2) / w2);
        float c = tableTrig.c[p.y];
        float s = tableTrig.s[p.y];
        float x0 = r * c + originX;
        float y0 = r * s + originY;
        foundIntensity.push(transform.get(p.x, p.y));
        LineParametric2D_F32 l = lines.grow();
        l.p.set(x0, y0);
        l.slope.set(-s, c);
        Point2D_F64 p2 = new Point2D_F64();
        lineToCoordinate(l, p2);
    }
    return lines;
}

Example 7 with LineParametric2D_F32

use of georegression.struct.line.LineParametric2D_F32 in project BoofCV by lessthanoptimal.

the class ImageLinePruneMerge method pruneSimilar.

public void pruneSimilar(float toleranceAngle, float toleranceDist, int imgWidth, int imgHeight) {
    sortByIntensity();
    float[] theta = new float[lines.size()];
    List<LineSegment2D_F32> segments = new ArrayList<>(lines.size());
    for (int i = 0; i < lines.size(); i++) {
        Data d = lines.get(i);
        LineParametric2D_F32 l = d.line;
        theta[i] = UtilAngle.atanSafe(l.getSlopeY(), l.getSlopeX());
        segments.add(LineImageOps.convert(l, imgWidth, imgHeight));
    }
    for (int i = 0; i < segments.size(); i++) {
        LineSegment2D_F32 a = segments.get(i);
        if (a == null)
            continue;
        for (int j = i + 1; j < segments.size(); j++) {
            LineSegment2D_F32 b = segments.get(j);
            if (b == null)
                continue;
            // see if they are nearly parallel
            if (UtilAngle.distHalf(theta[i], theta[j]) > toleranceAngle)
                continue;
            Point2D_F32 p = Intersection2D_F32.intersection(a, b, null);
            // see if it is nearly parallel and intersects inside the image
            if (p != null && p.x >= 0 && p.y >= 0 && p.x < imgWidth && p.y < imgHeight) {
                segments.set(j, null);
            } else {
                // now just see if they are very close
                float distA = Distance2D_F32.distance(a, b.a);
                float distB = Distance2D_F32.distance(a, b.b);
                if (distA <= toleranceDist || distB < toleranceDist) {
                    segments.set(j, null);
                }
            }
        }
    }
    List<Data> filtered = new ArrayList<>();
    for (int i = 0; i < segments.size(); i++) {
        if (segments.get(i) != null) {
            filtered.add(lines.get(i));
        }
    }
    lines = filtered;
}

Example 8 with LineParametric2D_F32

use of georegression.struct.line.LineParametric2D_F32 in project BoofCV by lessthanoptimal.

the class LineImageOps method mergeIntoA.

private static void mergeIntoA(LineSegment2D_F32 a, LineSegment2D_F32 b) {
    LineParametric2D_F32 paraA = UtilLine2D_F32.convert(a, (LineParametric2D_F32) null);
    Point2D_F32[] pts = new Point2D_F32[4];
    float[] t = new float[4];
    pts[0] = a.a;
    pts[1] = a.b;
    pts[2] = b.a;
    pts[3] = b.b;
    for (int i = 0; i < 4; i++) t[i] = ClosestPoint2D_F32.closestPointT(paraA, pts[i]);
    float min = t[0];
    float max = min;
    int indexMin = 0;
    int indexMax = 0;
    for (int i = 1; i < 4; i++) {
        float v = t[i];
        if (v < min) {
            min = v;
            indexMin = i;
        }
        if (v > max) {
            max = v;
            indexMax = i;
        }
    }
    // set the first line to the extreme points on each line
    a.a.set(pts[indexMin]);
    a.b.set(pts[indexMax]);
}

Example 9 with LineParametric2D_F32

use of georegression.struct.line.LineParametric2D_F32 in project BoofCV by lessthanoptimal.

the class TestHoughTransformLineFootOfNorm method obviousLines.

private <D extends ImageGray<D>> void obviousLines(Class<D> derivType) {
    GrayU8 binary = new GrayU8(width, height);
    D derivX = GeneralizedImageOps.createSingleBand(derivType, width, height);
    D derivY = GeneralizedImageOps.createSingleBand(derivType, width, height);
    for (int i = 0; i < height; i++) {
        binary.set(5, i, 1);
        GeneralizedImageOps.set(derivX, 5, i, 20);
    }
    NonMaxSuppression extractor = FactoryFeatureExtractor.nonmax(new ConfigExtract(4, 2, 0, true));
    HoughTransformLineFootOfNorm alg = new HoughTransformLineFootOfNorm(extractor, 2);
    alg.transform(derivX, derivY, binary);
    FastQueue<LineParametric2D_F32> lines = alg.extractLines();
    assertEquals(1, lines.size());
    LineParametric2D_F32 l = lines.get(0);
    assertEquals(l.p.x, 5, 0.1);
    // normalize the line for easier evaluation
    l.slope.x /= l.slope.norm();
    l.slope.y /= l.slope.norm();
    assertEquals(0, Math.abs(l.slope.x), 0);
    assertEquals(1, Math.abs(l.slope.y), 0.1);
}

Example 10 with LineParametric2D_F32

use of georegression.struct.line.LineParametric2D_F32 in project BoofCV by lessthanoptimal.

the class HoughTransformLineFootOfNorm method extractLines.

/**
 * Searches for local maximas and converts into lines.
 *
 * @return Found lines in the image.
 */
public FastQueue<LineParametric2D_F32> extractLines() {
    lines.reset();
    foundLines.reset();
    foundIntensity.reset();
    extractor.process(transform, null, candidates, null, foundLines);
    for (int i = 0; i < foundLines.size(); i++) {
        Point2D_I16 p = foundLines.get(i);
        int x0 = p.x - originX;
        int y0 = p.y - originY;
        if (Math.abs(x0) >= minDistanceFromOrigin || Math.abs(y0) >= minDistanceFromOrigin) {
            LineParametric2D_F32 l = lines.grow();
            l.p.set(p.x, p.y);
            l.slope.set(-y0, x0);
            foundIntensity.push(transform.get(p.x, p.y));
        }
    }
    return lines;
}