open Emgu.CV.Structure
open Utils
+open Config
open MatchingEllipses
type private SearchExtremum = Minimum | Maximum
-
+
let private goldenSectionSearch (f: float -> float) (nbIter: int) (xmin: float) (xmax: float) (searchExtremum: SearchExtremum) : (float * float) =
let gr = 1.0 / 1.6180339887498948482
let mutable a = xmin
let mutable b = xmax
let mutable c = b - gr * (b - a)
let mutable d = a + gr * (b - a)
-
+
for i in 1 .. nbIter do
let mutable fc = f c
let mutable fd = f d
-
+
if searchExtremum = Maximum
then
let tmp = fc
fc <- fd
fd <- tmp
-
+
if fc < fd
then
b <- d
a <- c
c <- d
d <- a + gr * (b - a)
-
+
let x = (b + a) / 2.0
x, f x
// Ellipse.A is always equal or greater than Ellipse.B.
// Ellipse.Alpha is between 0 and Pi.
let ellipse (p1x: float) (p1y: float) (m1: float) (p2x: float) (p2y: float) (m2: float) (p3x: float) (p3y: float) : Types.Ellipse option =
- let accuracy_extremum_search_1 = 4
- let accuracy_extremum_search_2 = 3
+ let accuracy_extremum_search_1 = 8 // 3
+ let accuracy_extremum_search_2 = 8 // 4
// p3 as the referencial.
let p1x = p1x - p3x
let p1y = p1y - p3y
-
+
let p2x = p2x - p3x
let p2y = p2y - p3y
-
+
// Convert to polar coordinates.
let alpha1 = atan m1
let alpha2 = atan m2
-
+
let r1 = sqrt (p1x ** 2.0 + p1y ** 2.0)
let theta1 = atan2 p1y p1x
let r2 = sqrt (p2x**2.0 + p2y**2.0)
let theta2 = atan2 p2y p2x
- let valid =
- 4.0 * sin (alpha1 - theta1) * (-r1 * sin (alpha1 - theta1) + r2 * sin (alpha1 - theta2)) *
+ let valid =
+ 4.0 * sin (alpha1 - theta1) * (-r1 * sin (alpha1 - theta1) + r2 * sin (alpha1 - theta2)) *
sin (alpha2 - theta2) * (-r1 * sin (alpha2 - theta1) + r2 * sin (alpha2 - theta2)) +
r1 * r2 * sin (alpha1 - alpha2) ** 2.0 * sin (theta1 - theta2) ** 2.0 < 0.0
-
+
if valid
then
- let r theta =
+ let r theta =
(r1 * r2 * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) * sin (theta1 - theta2)) /
(sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2.0 - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.0)
-
+
let rabs = r >> abs
-
+
// We search for an interval [theta_a, theta_b] and assume the function is unimodal in this interval.
let thetaTan, _ = goldenSectionSearch rabs accuracy_extremum_search_1 0.0 Math.PI Maximum
let rTan = r thetaTan
-
+
let PTanx = rTan * cos thetaTan
let PTany = rTan * sin thetaTan
-
+
let d1a = tan alpha1
let d1b = -d1a * p1x + p1y
-
+
let d2a = tan alpha2
let d2b = -d2a * p2x + p2y
-
+
let d3a = -1.0 / tan thetaTan
let d3b = -d3a * PTanx + PTany
-
+
let Ux = -(d1b - d2b) / (d1a - d2a)
let Uy = -(d2a * d1b - d1a * d2b) / (d1a - d2a)
-
+
let Vx = -(d1b - d3b) / (d1a - d3a)
let Vy = -(d3a * d1b - d1a * d3b) / (d1a - d3a)
-
+
let Wx = p1x + (p2x - p1x) / 2.0
let Wy = p1y + (p2y - p1y) / 2.0
-
+
let Zx = p1x + (PTanx - p1x) / 2.0
let Zy = p1y + (PTany - p1y) / 2.0
-
+
let va = -(-Vy + Zy) / (Vx - Zx)
let vb = -(Zx * Vy - Vx * Zy) / (Vx - Zx)
-
+
let ua = -(-Uy + Wy) / (Ux - Wx)
let ub = -(Wx * Uy - Ux * Wy) / (Ux - Wx)
-
+
let cx = -(vb - ub) / (va - ua)
let cy = -(ua * vb - va * ub) / (va - ua)
-
+
let rc = sqrt (cx**2.0 + cy**2.0)
let psi = atan2 cy cx
-
- let rellipse theta =
+
+ let rellipse theta =
sqrt (
rc ** 2.0 + (r1 ** 2.0 * r2 ** 2.0 * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) ** 2.0 * sin (theta1 - theta2) ** 2.0) /
(sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2.0 - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.0) ** 2.0 -
(2.0 * r1 * r2 * rc * cos (theta - psi) * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) * sin (theta1 - theta2)) /
(sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2.0 - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.0))
-
- // We search for an interval [theta_a, theta_b] and assume the function is unimodal in this interval.
+
+ // We search for an interval [theta_a, theta_b] and assume the function is unimodal in this interval.
let r1eTheta, r1e = goldenSectionSearch rellipse accuracy_extremum_search_2 0.0 (Math.PI / 2.0) Maximum // Pi/2 and not pi because the period is Pi.
let r2eTheta, r2e = goldenSectionSearch rellipse accuracy_extremum_search_2 0.0 (Math.PI / 2.0) Minimum
-
+
let rr1e = r r1eTheta
let r1ex = rr1e * cos r1eTheta
let r1ey = rr1e * sin r1eTheta
let mutable alpha = atan ((r1ey - cy) / (r1ex - cx))
if alpha < 0.0
then
- alpha <- alpha + Math.PI
-
+ alpha <- alpha + Math.PI
+
// Ride off the p3 referential.
let cx = cx + p3x
let cy = cy + p3y
if v1x > 0.0
then
rotation <- -1.0
- elif p1y < py
+ elif p1y < py
then
- if v1x < 0.0
+ if v1x < 0.0
then
rotation <- -1.0
elif p1x > px
if v1y < 0.0
then
rotation <- -1.0
- elif p1x < px
+ elif p1x < px
then
- if v1y > 0.0
+ if v1y > 0.0
then
rotation <- -1.0
rotation
let private areVectorsValid (p1x: float) (p1y: float) (p2x: float) (p2y: float) (v1x: float) (v1y: float) (v2x: float) (v2y: float) : (float * float) option =
let m1 = -v1x / v1y
let m2 = -v2x / v2y
-
+
let b1 = -m1 * p1x + p1y
let b2 = -m2 * p2x + p2y
- let px = -((b1 - b2)/(m1 - m2))
- let py = -((m2 * b1 - m1 * b2)/(m1 - m2))
-
+ let px = -((b1 - b2) / (m1 - m2))
+ let py = -((m2 * b1 - m1 * b2) / (m1 - m2))
+
let rot1 = vectorRotation p1x p1y v1x v1y px py
let rot2 = vectorRotation p2x p2y v2x v2y px py
-
- if rot1 = rot2 || rot1 * atan2 (p1y - py) (p1x - px) + rot2 * atan2 (p2y - py) (p2x - px) <= 0.0
+
+ if rot1 = rot2
then
None
else
+ let alpha1 = atan2 (p1y - py) (p1x - px)
+ let alpha2 = atan2 (p2y - py) (p2x - px)
+
+ let alpha1' = if alpha1 < 0.0 then 2.0 * Math.PI + alpha1 else alpha1
+ let alpha2' = if alpha2 < 0.0 then 2.0 * Math.PI + alpha2 else alpha2
+
+ let diff = rot1 * alpha1' + rot2 * alpha2'
+
+ if diff > Math.PI || (diff < 0.0 && diff > -Math.PI)
+ then
+ None
+ else
Some (m1, m2)
+
let find (edges: Matrix<byte>)
- (xDir: Image<Gray, float>)
- (yDir: Image<Gray, float>)
- (radiusRange: float * float)
- (windowSize: int)
- (factorNbPick: float) : Types.Ellipse list =
+ (xDir: Image<Gray, float>)
+ (yDir: Image<Gray, float>)
+ (config: Config) : MatchingEllipses =
+
+ let r1, r2 = config.Parameters.scale * config.RBCMin, config.Parameters.scale * config.RBCMax // FIXME: scale factor should be applied in Config!?
+ let windowSize = roundInt (config.Parameters.factorWindowSize * r2)
+ let factorNbPick = config.Parameters.factorNbPick
let increment = windowSize / 4
- let r1, r2 = radiusRange
let radiusTolerance = (r2 - r1) * 0.2
let minimumDistance = (r2 / 1.5) ** 2.0
let h = edges.Height
let w = edges.Width
-
+
let mutable last_i, last_j = Int32.MaxValue, Int32.MaxValue
let currentElements = List<(int * int)>()
let yDirData = yDir.Data
let rng = Random(42)
-
+
let ellipses = MatchingEllipses(r1)
-
- for window_i in -windowSize + increment .. increment .. h - increment do
- for window_j in -windowSize + increment .. increment .. w - increment do
-
+
+ for window_i in -windowSize + increment .. increment .. h - increment do
+ for window_j in -windowSize + increment .. increment .. w - increment do
+
let window_i_begin = if window_i < 0 then 0 else window_i
let window_i_end = if window_i + windowSize - 1 >= h then h - 1 else window_i + windowSize - 1
let window_j_begin = if window_j < 0 then 0 else window_j
match areVectorsValid p1xf p1yf p2xf p2yf -xDirData.[p1y, p1x, 0] -yDirData.[p1y, p1x, 0] -xDirData.[p2y, p2x, 0] -yDirData.[p2y, p2x, 0] with
| Some (m1, m2) ->
match ellipse p1xf p1yf m1 p2xf p2yf m2 p3xf p3yf with
- | Some e when e.Cx > 0.0 && e.Cx < (float w) - 1.0 && e.Cy > 0.0 && e.Cy < (float h) - 1.0 &&
+ | Some e when e.Cx > 0.0 && e.Cx < (float w) - 1.0 && e.Cy > 0.0 && e.Cy < (float h) - 1.0 &&
e.A >= r1 - radiusTolerance && e.A <= r2 + radiusTolerance && e.B >= r1 - radiusTolerance && e.B <= r2 + radiusTolerance ->
+
+ let prout = areVectorsValid p1xf p1yf p2xf p2yf -xDirData.[p1y, p1x, 0] -yDirData.[p1y, p1x, 0] -xDirData.[p2y, p2x, 0] -yDirData.[p2y, p2x, 0]
ellipses.Add e
| _ -> ()
| _ -> ()
currentElements.Clear()
-
- ellipses.Ellipses
+
+ ellipses
projects / master-thesis.git / blobdiff