private Line2 FitSimilarLine(List <Line2> lines, Line2 target, double angle = 20)
{
NumericalRecipes.RansacLine2d rcl = new NumericalRecipes.RansacLine2d();
List <Vector2> linepoints = new List <Vector2>();
linepoints.AddRange(target.SamplePoints());
//ransac
for (int i = 0; i < lines.Count; i++)
{
if (Line2.IsParallel(lines[i], target, angle))
{
if (target.DistanceToLine(lines[i].start) < 30 && target.DistanceToLine(lines[i].end) < 30)
{
linepoints.AddRange(lines[i].SamplePoints());
}
}
}
Line2 bestline = rcl.Estimate(linepoints);
if (bestline == null)
{
return(target);
}
if (Vector2.Dot(bestline.dir, target.dir) < 0)
{
bestline.Flip();
}
return(bestline);
}
public double MinDisBetweenLine2(Line2 a, Line2 b)
{
if (!Line2.IsParallel(a, b, 5))
{
double dis1 = a.DistanceToLine(b.start);
double dis2 = a.DistanceToLine(b.end);
double dis3 = b.DistanceToLine(a.start);
double dis4 = b.DistanceToLine(a.end);
double meandis = Math.Min(Math.Min(dis1, dis2), Math.Min(dis3, dis4));
//double meandis = (dis1 + dis2 + dis3 + dis4) / 4.0;
return(meandis);
}
else
{
return(0);
}
}
private Line2 FitCloseLine(List <Line2> lines, Line2 target, double dis = 30)
{
List <Vector2> linepoints = new List <Vector2>();
linepoints.AddRange(target.SamplePoints());
//ransac
for (int i = 0; i < lines.Count; i++)
{
if (Line2.IsParallel(lines[i], target, 45))
{
double d = double.MaxValue;
foreach (Vector2 v in linepoints)
{
d = Math.Min(Math.Min(Vector2.Distance(lines[i].start, v), Vector2.Distance(lines[i].end, v)), d);
}
if (d < dis)
{
linepoints.AddRange(lines[i].SamplePoints());
}
}
}
// least square
//Vector2 dir = Utility.GetDirection(linepoints);
//Line2 bestline = new Line2(linepoints[0], dir, true);
//foreach (Vector2 v in linepoints)
// bestline.UpdateEnd(v);
//ransac
NumericalRecipes.RansacLine2d rcl = new NumericalRecipes.RansacLine2d();
Line2 bestline = rcl.Estimate(linepoints);
if (bestline == null)
{
return(target);
}
if (Vector2.Dot(bestline.dir, target.dir) < 0)
{
bestline.Flip();
}
return(bestline);
}
private List <Vector2> ApproximateStraightAxis(List <Line2> skel_lines)
{
// from skeleton lines(aka. thining image lines) (find lines that have the same direction with guessed axis <- when top face is known)
// ransac, fit one line as main axis
// update end points
// set top circle center as start point
// extend end point
Line2 new_main_axis = null;
Image <Rgb, byte> mainaxis_img = body_img.Copy().Convert <Rgb, byte>();
Line2 main_axis = null;
if (iscube)
{
main_axis = ApproximateFromCubeTop();
}
else
{
main_axis = ApproximateFromTop();
}
if (main_axis == null)
{
return(null);
}
if (noface)
{
NumericalRecipes.RansacLine2d rcl = new NumericalRecipes.RansacLine2d();
List <Vector2> thin_points = IExtension.GetMaskPoints(this.ori_thin_img);
List <Vector2> linepoints = new List <Vector2>();
for (int i = 0; i < skel_lines.Count; i++)
{
linepoints.AddRange(skel_lines[i].SamplePoints());
}
//Line2 bestline = rcl.Estimate(linepoints);
Line2 bestline = rcl.Estimate(thin_points);
double diss = Vector2.Distance(bestline.start, face_center[0]);
double dise = Vector2.Distance(bestline.end, face_center[0]);
if (dise < diss)
{
bestline.Flip();
}
new_main_axis = bestline;
}
else
{
// use ori thinning image as guidance
LineSegment2D[] lines = ori_thin_img.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 180.0, //Angle resolution measured in radians.
3, //threshold
4, //min Line width
1 //gap between lines
)[0]; //Get the lines from the first channel
skel_lines.Clear();
foreach (LineSegment2D line in lines)
{
skel_lines.Add(new Line2(new Vector2(line.P1.X, line.P1.Y), new Vector2(line.P2.X, line.P2.Y)));
}
Line2 bestline = FitSimilarLine(skel_lines, main_axis);
if (Line2.IsParallel(bestline, main_axis, 5))
{
new_main_axis = bestline;
}
else
{
new_main_axis = main_axis;
}
}
// update end
List <Vector2> ori_skel_points = IExtension.GetMaskPoints(ori_thin_img);
for (int i = 0; i < ori_skel_points.Count; i++)
{
new_main_axis.UpdateEnd(ori_skel_points[i]);
}
new_main_axis.start = new_main_axis.ProjToLine(face_center.First());
new_main_axis.start = new_main_axis.GetPointwithT(4);
List <Vector2> axis_points = new List <Vector2>();
// axis_points.Add(face_center.First());
axis_points.AddRange(new_main_axis.SamplePoints());
axis_points.Add(new_main_axis.GetPointwithT((float)new_main_axis.Length() * 1.2f));
axis_points = IExtension.ResetPath(axis_points, 3);
#region visualize
Image <Rgb, byte> mainaxis_point_img = body_img.Copy().Convert <Rgb, byte>();
foreach (Vector2 v in axis_points)
{
mainaxis_point_img.Draw(new CircleF(new PointF(v.x, v.y), 2.0f), new Rgb(255, 0, 0), 1);
}
mainaxis_point_img.Draw(new CircleF(new PointF(axis_points.First().x, axis_points.First().y), 3.0f), new Rgb(0, 255, 0), 1);
mainaxis_point_img.Save(index_forname.ToString() + this.label_forname.ToString() + "_axis_straight.png");
#endregion
return(axis_points);
}
