open System
open System.Collections.Generic
+open System.Drawing
open Emgu.CV
open Emgu.CV.Structure
open Utils
+open Config
open MatchingEllipses
-
+open Const
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 gr = 1. / 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
+
+ let x = (b + a) / 2.
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 = 10 // 3
+ let accuracy_extremum_search_2 = 10 // 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 r1 = sqrt (p1x ** 2. + p1y ** 2.)
let theta1 = atan2 p1y p1x
- let r2 = sqrt (p2x**2.0 + p2y**2.0)
+ let r2 = sqrt (p2x ** 2. + p2y ** 2.)
let theta2 = atan2 p2y p2x
- let valid =
- 4.0 * sin (alpha1 - theta1) * (-r1 * sin (alpha1 - theta1) + r2 * sin (alpha1 - theta2)) *
+ let valid =
+ 4. * 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
-
+ r1 * r2 * sin (alpha1 - alpha2) ** 2. * sin (theta1 - theta2) ** 2. < 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)
-
+ (sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2. - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.)
+
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 thetaTan, _ = goldenSectionSearch rabs accuracy_extremum_search_1 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 d3a = -1. / 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 Wx = p1x + (p2x - p1x) / 2.
+ let Wy = p1y + (p2y - p1y) / 2.
+
+ let Zx = p1x + (PTanx - p1x) / 2.
+ let Zy = p1y + (PTany - p1y) / 2.
+
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 rc = sqrt (cx ** 2. + cy ** 2.)
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.
- 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
-
+ rc ** 2. + (r1 ** 2. * r2 ** 2. * (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. * sin (theta1 - theta2) ** 2.) /
+ (sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2. - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.) ** 2. -
+ (2. * 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. - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.))
+
+ // 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. (Math.PI / 2.) Maximum // Pi/2 and not pi because the period is Pi.
+ let r2eTheta, r2e = goldenSectionSearch rellipse accuracy_extremum_search_2 0. (Math.PI / 2.) 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
+ if alpha < 0.
then
- alpha <- alpha + Math.PI
-
+ alpha <- alpha + Math.PI
+
// Ride off the p3 referential.
let cx = cx + p3x
let cy = cy + p3y
- Some (Types.Ellipse(cx, cy, r1e, r2e, alpha))
+ Some (Types.Ellipse(float32 cx, float32 cy, float32 r1e, float32 r2e, float32 alpha))
else
None
-let private vectorRotation (p1x: float) (p1y: float) (v1x: float) (v1y: float) (px: float) (py: float) : float =
- let mutable rotation = 1.0
+let private vectorRotation (p1x: float32) (p1y: float32) (v1x: float32) (v1y: float32) (px: float32) (py: float32) : float32 =
+ let mutable rotation = 1.f
if p1y > py
then
- if v1x > 0.0
+ if v1x > 0.f
then
- rotation <- -1.0
- elif p1y < py
+ rotation <- -1.f
+ elif p1y < py
then
- if v1x < 0.0
+ if v1x < 0.f
then
- rotation <- -1.0
+ rotation <- -1.f
elif p1x > px
then
- if v1y < 0.0
+ if v1y < 0.f
then
- rotation <- -1.0
- elif p1x < px
+ rotation <- -1.f
+ elif p1x < px
then
- if v1y > 0.0
+ if v1y > 0.f
then
- rotation <- -1.0
+ rotation <- -1.f
rotation
-let private areVectorsValid (p1x: float) (p1y: float) (p2x: float) (p2y: float) (v1x: float) (v1y: float) (v2x: float) (v2y: float) : (float * float) option =
+let private areVectorsValid (p1x: float32) (p1y: float32) (p2x: float32) (p2y: float32) (v1x: float32) (v1y: float32) (v2x: float32) (v2y: float32) : (float32 * float32) 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.f then 2.f * PI + alpha1 else alpha1
+ let alpha2' = if alpha2 < 0.f then 2.f * PI + alpha2 else alpha2
+
+ let diff = rot1 * alpha1' + rot2 * alpha2'
+
+ if diff > PI || (diff < 0.f && diff > -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 =
+ (xGradient: Image<Gray, float32>)
+ (yGradient: Image<Gray, float32>)
+ (config: Config) : MatchingEllipses =
+
+ let r1, r2 = config.RBCRadius.Min, config.RBCRadius.Max
+ let incrementWindowDivisor = 4.f
+
+ // We choose a window size for which the biggest ellipse can always be fitted in.
+ let windowSize = roundInt (2.f * r2 / (incrementWindowDivisor - 1.f) * incrementWindowDivisor)
+ let factorNbPick = config.Parameters.factorNbPick
- let increment = windowSize / 4
+ let increment = windowSize / (int incrementWindowDivisor)
- let r1, r2 = radiusRange
- let radiusTolerance = (r2 - r1) * 0.2
+ let radiusTolerance = (r2 - r1) * 0.2f
- let minimumDistance = (r2 / 1.5) ** 2.0
- let squaredDistance x1 y1 x2 y2 = (x1 - x2) ** 2.0 + (y1 - y2) ** 2.0
+ let squaredMinimumDistance = (float r2 / 1.5) ** 2.
+ let inline squaredDistance x1 y1 x2 y2 = (x1 - x2) ** 2. + (y1 - y2) ** 2.
let h = edges.Height
let w = edges.Width
-
+ let h_f = float32 h
+ let w_f = float32 w
+
let mutable last_i, last_j = Int32.MaxValue, Int32.MaxValue
- let currentElements = List<(int * int)>()
+ let currentElements = List<Point>()
let edgesData = edges.Data
- let xDirData = xDir.Data
- let yDirData = yDir.Data
+ let xDirData = xGradient.Data
+ let yDirData = yGradient.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
let window_j_end = if window_j + windowSize - 1 >= w then w - 1 else window_j + windowSize - 1
// Remove old elements.
- let indexFirstElement = currentElements.FindIndex(fun (_, pj) -> pj >= window_j)
+ let indexFirstElement = currentElements.FindIndex(fun p -> p.X >= window_j_begin)
if indexFirstElement > 0
then currentElements.RemoveRange(0, indexFirstElement)
// Add the new elements.
- for j in window_j + windowSize - increment .. window_j + windowSize - 1 do
+ let newElemsBegin_j = window_j + windowSize - increment
+ let newElemsEnd_j = window_j + windowSize - 1
+ for j in (if newElemsBegin_j < 0 then 0 else newElemsBegin_j) .. (if newElemsEnd_j >= w then w - 1 else newElemsEnd_j) do
for i in window_i_begin .. window_i_end do
- if j >= 0 && j < w && edgesData.[i, j] = 1uy
- then currentElements.Add((i, j))
+ if edgesData.[i, j] = 1uy
+ then currentElements.Add(Point(j, i))
if currentElements.Count >= 10
then
let mutable nbOfPicks = (float currentElements.Count) * factorNbPick |> int
while nbOfPicks > 0 do
- let (p1y, p1x) as p1 = currentElements.[rng.Next(currentElements.Count)]
- let (p2y, p2x) as p2 = currentElements.[rng.Next(currentElements.Count)]
- let (p3y, p3x) as p3 = currentElements.[rng.Next(currentElements.Count)]
+ let p1 = currentElements.[rng.Next(currentElements.Count)]
+ let p2 = currentElements.[rng.Next(currentElements.Count)]
+ let p3 = currentElements.[rng.Next(currentElements.Count)]
if p1 <> p2 && p1 <> p3 && p2 <> p3
then
nbOfPicks <- nbOfPicks - 1
- let p1yf, p1xf = float p1y, float p1x
- let p2yf, p2xf = float p2y, float p2x
- let p3yf, p3xf = float p3y, float p3x
- if squaredDistance p1xf p1yf p2xf p2yf >= minimumDistance &&
- squaredDistance p1xf p1yf p3xf p3yf >= minimumDistance &&
- squaredDistance p2xf p2yf p3xf p3yf >= minimumDistance
+ let p1yf, p1xf = float p1.Y, float p1.X
+ let p2yf, p2xf = float p2.Y, float p2.X
+ let p3yf, p3xf = float p3.Y, float p3.X
+ if squaredDistance p1xf p1yf p2xf p2yf >= squaredMinimumDistance &&
+ squaredDistance p1xf p1yf p3xf p3yf >= squaredMinimumDistance &&
+ squaredDistance p2xf p2yf p3xf p3yf >= squaredMinimumDistance
then
- match areVectorsValid p1xf p1yf p2xf p2yf -xDirData.[p1y, p1x, 0] -yDirData.[p1y, p1x, 0] -xDirData.[p2y, p2x, 0] -yDirData.[p2y, p2x, 0] with
+ match areVectorsValid (float32 p1xf) (float32 p1yf) (float32 p2xf) (float32 p2yf) -xDirData.[p1.Y, p1.X, 0] -yDirData.[p1.Y, p1.X, 0] -xDirData.[p2.Y, p2.X, 0] -yDirData.[p2.Y, p2.X, 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 &&
+ match ellipse p1xf p1yf (float m1) p2xf p2yf (float m2) p3xf p3yf with
+ | Some e when e.Cx > 0.f && e.Cx < w_f - 1.f && e.Cy > 0.f && e.Cy < h_f - 1.f &&
e.A >= r1 - radiusTolerance && e.A <= r2 + radiusTolerance && e.B >= r1 - radiusTolerance && e.B <= r2 + radiusTolerance ->
ellipses.Add e
| _ -> ()
| _ -> ()
currentElements.Clear()
-
- ellipses.Ellipses
+
+ ellipses
projects / master-thesis.git / blobdiff