|
public GetExteriorAngleDegree ( |
||
| otherLine | The other line | |
| return | double | |
private void AddToFlowVectorImage(Image<Bgr, byte> flowVectorImage, LineSegment2DF flowVector)
{
var bgr = new HsvToBgrConverter(flowVector.GetExteriorAngleDegree(UnitVectorOfX), 1, 1).Convert();
flowVectorImage.Draw(flowVector, bgr, 1);
}
public void TestLine()
{
PointF p1 = new PointF(0, 0);
PointF p2 = new PointF(1, 0);
PointF p3 = new PointF(0, 1);
LineSegment2DF l1 = new LineSegment2DF(p1, p2);
LineSegment2DF l2 = new LineSegment2DF(p1, p3);
double angle = l1.GetExteriorAngleDegree(l2);
Assert.AreEqual(angle, 90.0);
}
public static Transformation ApplyRansac(Dictionary<PointF, PointF> c, int nbMaxIteration = 200, int nbSuffisantInliers = 10000)
{
int nbTentative = 0;
int maxInliers = 0;
var best = new Transformation();
var matchs = new Dictionary<PointF, PointF>();
int nbMatch = c.Count;
int nbCombi = (nbMatch * nbMatch - 1) / 2;
int nbMin = Math.Min(nbCombi, nbMaxIteration);
var tirages = new List<Point>();
if (nbCombi < 200000)
{
for (int i = 0; i < nbMatch; i++)
{
for (int j = 0; j < nbMatch; j++)
{
if (i > j)
{
tirages.Add(new Point(i, j));
}
}
}
}
else
{
var rand = new Random();
while (tirages.Count < 1000)
{
var rand1 = rand.Next(nbMatch);
var rand2 = rand.Next(nbMatch);
var randCoord = new Point(rand1, rand2);
if (!tirages.Contains(randCoord))
tirages.Add(randCoord);
}
}
while (nbTentative < nbMin)
{
var nbInliers = 0;
matchs.Clear();
var rand = new Random();
int rando = rand.Next(tirages.Count);
int rand1 = tirages[rando].X;
int rand2 = tirages[rando].Y;
tirages.RemoveAt(rando);
nbTentative++;
PointF p1 = c.Keys.ElementAt(rand1);
PointF p2 = c.Keys.ElementAt(rand2);
var lineFromSource = new LineSegment2DF(p1, p2);
var lineFromPattern = new LineSegment2DF(c[p1], c[p2]);
if (lineFromPattern.Length < 5 || lineFromSource.Length < 5)
{
nbTentative++;
continue;
}
matchs.Add(p1, c[p1]);
matchs.Add(p2, c[p2]);
float translationX = lineFromSource.P1.X - lineFromPattern.P1.X;
float translationY = lineFromSource.P1.Y - lineFromPattern.P1.Y;
double scale = lineFromSource.Length / lineFromPattern.Length;
if (scale > 4 || scale < 0.2)
{
nbTentative++;
continue;
}
double rotation = lineFromSource.GetExteriorAngleDegree(lineFromPattern);
var matRot = new Matrix<float>(2, 3);
CvInvoke.cv2DRotationMatrix(lineFromPattern.P1, rotation, scale, matRot.Ptr);
for (int i = 0; i < nbMatch; i++)
{
if (i == rand1 || i == rand2)
{
continue;
}
bool skip = false;
foreach (var match in matchs.Keys)
{
var distValid1 = new LineSegment2DF(match, c.Keys.ElementAt(i));
var distValid2 = new LineSegment2DF(c[match], c[c.Keys.ElementAt(i)]);
if (distValid1.Length < 5 || distValid2.Length < 5)
{
skip = true;
break;
}
}
if (skip)
continue;
PointF pi = c.Keys.ElementAt(i);
var point1 = new Matrix<float>(3, 1)
{
[0, 0] = pi.X,