open Emgu.CV
open Emgu.CV.Structure
-open Utils
open Heap
+open Const
+open Utils
// Normalize image values between 0uy and 255uy.
-let normalizeAndConvert (img: Image<Gray, float32>) : Image<Gray, byte> =
+let normalizeAndConvert (img: Image<Gray, 'TDepth>) : Image<Gray, byte> =
let min = ref [| 0.0 |]
let minLocation = ref <| [| Point() |]
let max = ref [| 0.0 |]
let maxLocation = ref <| [| Point() |]
img.MinMax(min, max, minLocation, maxLocation)
- ((img - (!min).[0]) / ((!max).[0] - (!min).[0]) * 255.0).Convert<Gray, byte>()
+ ((img.Convert<Gray, float32>() - (!min).[0]) / ((!max).[0] - (!min).[0]) * 255.0).Convert<Gray, byte>()
+
+
+let saveImg (img: Image<'TColor, 'TDepth>) (filepath: string) =
+ img.Save(filepath)
+
+
+let saveMat (mat: Matrix<'TDepth>) (filepath: string) =
+ use img = new Image<Gray, 'TDeph>(mat.Size)
+ mat.CopyTo(img)
+ saveImg img filepath
+
+
+let suppressMConnections (img: Matrix<byte>) =
+ let w = img.Width
+ let h = img.Height
+ for i in 1 .. h - 2 do
+ for j in 1 .. w - 2 do
+ if img.[i, j] > 0uy && img.Data.[i + 1, j] > 0uy && (img.Data.[i, j - 1] > 0uy && img.Data.[i - 1, j + 1] = 0uy || img.Data.[i, j + 1] > 0uy && img.Data.[i - 1, j - 1] = 0uy)
+ then
+ img.[i, j] <- 0uy
+ for i in 1 .. h - 2 do
+ for j in 1 .. w - 2 do
+ if img.[i, j] > 0uy && img.Data.[i - 1, j] > 0uy && (img.Data.[i, j - 1] > 0uy && img.Data.[i + 1, j + 1] = 0uy || img.Data.[i, j + 1] > 0uy && img.Data.[i + 1, j - 1] = 0uy)
+ then
+ img.[i, j] <- 0uy
+
+
+let findEdges (img: Image<Gray, float32>) : Matrix<byte> * Image<Gray, float32> * Image<Gray, float32> =
+ let w = img.Width
+ let h = img.Height
+
+ use sobelKernel =
+ new ConvolutionKernelF(array2D [[ 1.0f; 0.0f; -1.0f ]
+ [ 2.0f; 0.0f; -2.0f ]
+ [ 1.0f; 0.0f; -1.0f ]], Point(1, 1))
+
+ let xGradient = img.Convolution(sobelKernel)
+ let yGradient = img.Convolution(sobelKernel.Transpose())
+
+ let xGradientData = xGradient.Data
+ let yGradientData = yGradient.Data
+ for r in 0 .. h - 1 do
+ xGradientData.[r, 0, 0] <- 0.f
+ xGradientData.[r, w - 1, 0] <- 0.f
+ yGradientData.[r, 0, 0] <- 0.f
+ yGradientData.[r, w - 1, 0] <- 0.f
+
+ for c in 0 .. w - 1 do
+ xGradientData.[0, c, 0] <- 0.f
+ xGradientData.[h - 1, c, 0] <- 0.f
+ yGradientData.[0, c, 0] <- 0.f
+ yGradientData.[h - 1, c, 0] <- 0.f
+
+ use magnitudes = new Matrix<float32>(xGradient.Size)
+ use angles = new Matrix<float32>(xGradient.Size)
+ CvInvoke.CartToPolar(xGradient, yGradient, magnitudes, angles) // Compute the magnitudes (without angles).
+
+ let thresholdHigh, thresholdLow =
+ let sensibilityHigh = 0.1f
+ let sensibilityLow = 0.1f
+ use magnitudesByte = magnitudes.Convert<byte>()
+ let threshold = float32 <| CvInvoke.Threshold(magnitudesByte, magnitudesByte, 0.0, 1.0, CvEnum.ThresholdType.Otsu ||| CvEnum.ThresholdType.Binary)
+ threshold + (sensibilityHigh * threshold), threshold - (sensibilityLow * threshold)
+
+ // Non-maximum suppression.
+ use nms = new Matrix<byte>(xGradient.Size)
+
+ let nmsData = nms.Data
+ let anglesData = angles.Data
+ let magnitudesData = magnitudes.Data
+ let xGradientData = xGradient.Data
+ let yGradientData = yGradient.Data
+
+ let PI = float32 Math.PI
+
+ for i in 0 .. h - 1 do
+ nmsData.[i, 0] <- 0uy
+ nmsData.[i, w - 1] <- 0uy
+
+ for j in 0 .. w - 1 do
+ nmsData.[0, j] <- 0uy
+ nmsData.[h - 1, j] <- 0uy
+
+ for i in 1 .. h - 2 do
+ for j in 1 .. w - 2 do
+ let vx = xGradientData.[i, j, 0]
+ let vy = yGradientData.[i, j, 0]
+ if vx <> 0.f || vy <> 0.f
+ then
+ let angle = anglesData.[i, j]
+
+ let vx', vy' = abs vx, abs vy
+ let ratio2 = if vx' > vy' then vy' / vx' else vx' / vy'
+ let ratio1 = 1.f - ratio2
+
+ let mNeigbors (sign: int) : float32 =
+ if angle < PI / 4.f
+ then ratio1 * magnitudesData.[i, j + sign] + ratio2 * magnitudesData.[i + sign, j + sign]
+ elif angle < PI / 2.f
+ then ratio2 * magnitudesData.[i + sign, j + sign] + ratio1 * magnitudesData.[i + sign, j]
+ elif angle < 3.f * PI / 4.f
+ then ratio1 * magnitudesData.[i + sign, j] + ratio2 * magnitudesData.[i + sign, j - sign]
+ elif angle < PI
+ then ratio2 * magnitudesData.[i + sign, j - sign] + ratio1 * magnitudesData.[i, j - sign]
+ elif angle < 5.f * PI / 4.f
+ then ratio1 * magnitudesData.[i, j - sign] + ratio2 * magnitudesData.[i - sign, j - sign]
+ elif angle < 3.f * PI / 2.f
+ then ratio2 * magnitudesData.[i - sign, j - sign] + ratio1 * magnitudesData.[i - sign, j]
+ elif angle < 7.f * PI / 4.f
+ then ratio1 * magnitudesData.[i - sign, j] + ratio2 * magnitudesData.[i - sign, j + sign]
+ else ratio2 * magnitudesData.[i - sign, j + sign] + ratio1 * magnitudesData.[i, j + sign]
+
+ let m = magnitudesData.[i, j]
+ if m >= thresholdLow && m > mNeigbors 1 && m > mNeigbors -1
+ then
+ nmsData.[i, j] <- 1uy
+
+ // suppressMConnections nms // It's not helpful for the rest of the process (ellipse detection).
+
+ let edges = new Matrix<byte>(xGradient.Size)
+ let edgesData = edges.Data
+
+ // Hysteresis thresholding.
+ let toVisit = Stack<Point>()
+ for i in 0 .. h - 1 do
+ for j in 0 .. w - 1 do
+ if nmsData.[i, j] = 1uy && magnitudesData.[i, j] >= thresholdHigh
+ then
+ nmsData.[i, j] <- 0uy
+ toVisit.Push(Point(j, i))
+ while toVisit.Count > 0 do
+ let p = toVisit.Pop()
+ edgesData.[p.Y, p.X] <- 1uy
+ for i' in -1 .. 1 do
+ for j' in -1 .. 1 do
+ if i' <> 0 || j' <> 0
+ then
+ let ni = p.Y + i'
+ let nj = p.X + j'
+ if ni >= 0 && ni < h && nj >= 0 && nj < w && nmsData.[ni, nj] = 1uy
+ then
+ nmsData.[ni, nj] <- 0uy
+ toVisit.Push(Point(nj, ni))
+
+ edges, xGradient, yGradient
let gaussianFilter (img : Image<'TColor, 'TDepth>) (standardDeviation : float) : Image<'TColor, 'TDepth> =
type Points = HashSet<Point>
-let drawPoints (img: Image<Gray, byte>) (points: Points) (intensity: byte) =
+let drawPoints (img: Image<Gray, 'TDepth>) (points: Points) (intensity: 'TDepth) =
for p in points do
img.Data.[p.Y, p.X, 0] <- intensity
-
type ExtremumType =
| Maxima = 1
| Minima = 2
-let findExtremum (img: Image<Gray,
byte>) (extremumType: ExtremumType) : IEnumerable<Points> =
+let findExtremum (img: Image<Gray,
'TDepth>) (extremumType: ExtremumType) : IEnumerable<Points> =
let w = img.Width
let h = img.Height
let se = [| -1, 0; 0, -1; 1, 0; 0, 1 |]
result.Select(fun l -> Points(l))
-let findMaxima (img: Image<Gray,
byte>) : IEnumerable<Points> =
+let findMaxima (img: Image<Gray,
'TDepth>) : IEnumerable<Points> =
findExtremum img ExtremumType.Maxima
-let findMinima (img: Image<Gray, byte>) : IEnumerable<Points> =
+
+let findMinima (img: Image<Gray, 'TDepth>) : IEnumerable<Points> =
findExtremum img ExtremumType.Minima
let areaClose (img: Image<Gray, byte>) (area: int) =
areaOperation img area AreaOperation.Closing
+[<AllowNullLiteral>]
+type Island (cmp: IComparer<float32>) =
+ member val Shore = Heap.Heap<float32, Point>(cmp) with get
+ member val Level = 0.f with get, set
+ member val Surface = 0 with get, set
+
+
+let private areaOperationF (img: Image<Gray, float32>) (area: int) (op: AreaOperation) =
+ let w = img.Width
+ let h = img.Height
+ let earth = img.Data
+ let se = [| -1, 0; 0, -1; 1, 0; 0, 1 |]
+
+ let comparer = if op = AreaOperation.Opening
+ then { new IComparer<float32> with member this.Compare(v1, v2) = v1.CompareTo(v2) }
+ else { new IComparer<float32> with member this.Compare(v1, v2) = v2.CompareTo(v1) }
+
+ let ownership: Island[,] = Array2D.create h w null
+
+ // Initialize islands with their shore.
+ let islands = List<Island>()
+ let extremum = img |> if op = AreaOperation.Opening then findMaxima else findMinima
+ for e in extremum do
+ let island =
+ let p = e.First()
+ Island(comparer, Level = earth.[p.Y, p.X, 0], Surface = e.Count)
+ islands.Add(island)
+ let shorePoints = Points()
+ for p in e do
+ ownership.[p.Y, p.X] <- island
+ for i, j in se do
+ let ni = i + p.Y
+ let nj = j + p.X
+ let neighbor = Point(nj, ni)
+ if ni >= 0 && ni < h && nj >= 0 && nj < w && ownership.[ni, nj] = null && not (shorePoints.Contains(neighbor))
+ then
+ shorePoints.Add(neighbor) |> ignore
+ island.Shore.Add earth.[ni, nj, 0] neighbor
+
+ for island in islands do
+ let mutable stop = island.Shore.IsEmpty
+
+ // 'true' if 'p' is owned or adjacent to 'island'.
+ let ownedOrAdjacent (p: Point) : bool =
+ ownership.[p.Y, p.X] = island ||
+ (p.Y > 0 && ownership.[p.Y - 1, p.X] = island) ||
+ (p.Y < h - 1 && ownership.[p.Y + 1, p.X] = island) ||
+ (p.X > 0 && ownership.[p.Y, p.X - 1] = island) ||
+ (p.X < w - 1 && ownership.[p.Y, p.X + 1] = island)
+
+ while not stop && island.Surface < area do
+ let level, next = island.Shore.Max
+ let other = ownership.[next.Y, next.X]
+ if other = island // During merging, some points on the shore may be owned by the island itself -> ignored.
+ then
+ island.Shore.RemoveNext ()
+ else
+ if other <> null
+ then // We touching another island.
+ if island.Surface + other.Surface >= area
+ then
+ stop <- true
+ else // We can merge 'other' into 'surface'.
+ island.Surface <- island.Surface + other.Surface
+ island.Level <- if comparer.Compare(island.Level, other.Level) > 0 then island.Level else other.Level
+ for l, p in other.Shore do
+ let mutable currentY = p.Y + 1
+ while currentY < h && ownership.[currentY, p.X] = other do
+ ownership.[currentY, p.X] <- island
+ currentY <- currentY + 1
+ island.Shore.Add l p
+ other.Shore.Clear()
+
+ elif comparer.Compare(level, island.Level) > 0
+ then
+ stop <- true
+ else
+ island.Shore.RemoveNext ()
+ for i, j in se do
+ let ni = i + next.Y
+ let nj = j + next.X
+ if ni < 0 || ni >= h || nj < 0 || nj >= w
+ then
+ island.Surface <- Int32.MaxValue
+ stop <- true
+ else
+ let neighbor = Point(nj, ni)
+ if not <| ownedOrAdjacent neighbor
+ then
+ island.Shore.Add earth.[ni, nj, 0] neighbor
+ if not stop
+ then
+ ownership.[next.Y, next.X] <- island
+ island.Level <- level
+ island.Surface <- island.Surface + 1
+
+ for i in 0 .. h - 1 do
+ for j in 0 .. w - 1 do
+ let island = ownership.[i, j]
+ if island <> null
+ then
+ earth.[i, j, 0] <- island.Level
+ ()
+
+
+let areaOpenF (img: Image<Gray, float32>) (area: int) =
+ areaOperationF img area AreaOperation.Opening
+
+let areaCloseF (img: Image<Gray, float32>) (area: int) =
+ areaOperationF img area AreaOperation.Closing
+
+// A simpler algorithm than 'areaOpen' but slower.
let areaOpen2 (img: Image<Gray, byte>) (area: int) =
let w = img.Width
let h = img.Height
data2 <- tmp
-// FIXME: replace by a queue or stack.
-let pop (l: List<'a>) : 'a =
- let n = l.[l.Count - 1]
- l.RemoveAt(l.Count - 1)
- n
-
// Remove all 8-connected pixels with an area equal or greater than 'areaSize'.
// Modify 'mat' in place.
let removeArea (mat: Matrix<byte>) (areaSize: int) =
( 0, -1) // p8
(-1, -1) |] // p9
- let mat' = new Matrix<byte>(mat.Size)
+ use mat' = new Matrix<byte>(mat.Size)
let w = mat'.Width
let h = mat'.Height
mat.CopyTo(mat')
for j in 0..w-1 do
if data'.[i, j] = 1uy
then
- let neighborhood = List<(int*int)>()
- let neighborsToCheck = List<(int*int)>()
- neighborsToCheck.Add((i, j))
+ let neighborhood = List<Point>()
+ let neighborsToCheck = Stack<Point>()
+ neighborsToCheck.Push(Point(j, i))
data'.[i, j] <- 0uy
while neighborsToCheck.Count > 0 do
- let (ci, cj) = pop neighborsToCheck
- neighborhood.Add((ci, cj))
+ let n = neighborsToCheck.Pop()
+ neighborhood.Add(n)
for (ni, nj) in neighbors do
- let pi = ci + ni
- let pj = cj + nj
+ let pi = n.Y + ni
+ let pj = n.X + nj
if pi >= 0 && pi < h && pj >= 0 && pj < w && data'.[pi, pj] = 1uy
then
- neighborsToCheck.Add((pi, pj))
+ neighborsToCheck.Push(Point(pj, pi))
data'.[pi, pj] <- 0uy
if neighborhood.Count <= areaSize
then
- for (ni, nj) in neighborhood do
- data.[ni, nj] <- 0uy
+ for n in neighborhood do
+ data.[n.Y, n.X] <- 0uy
let connectedComponents (img: Image<Gray, byte>) (startPoints: List<Point>) : List<Point> =
let w = img.Width
let h = img.Height
let pointChecked = Points()
- let pointToCheck =
List<Point>(startPoints);
+ let pointToCheck =
Stack<Point>(startPoints);
let data = img.Data
while pointToCheck.Count > 0 do
- let next = pop pointToCheck
+ let next = pointToCheck.Pop()
pointChecked.Add(next) |> ignore
for ny in -1 .. 1 do
for nx in -1 .. 1 do
let p = Point(next.X + nx, next.Y + ny)
if p.X >= 0 && p.X < w && p.Y >= 0 && p.Y < h && data.[p.Y, p.X, 0] > 0uy && not (pointChecked.Contains p)
then
- pointToCheck.Add(p)
+ pointToCheck.Push(p)
List<Point>(pointChecked)
-let saveImg (img: Image<'TColor, 'TDepth>) (filepath: string) =
- img.Save(filepath)
-
-
-let saveMat (mat: Matrix<'TDepth>) (filepath: string) =
- use img = new Image<Gray, 'TDeph>(mat.Size)
- mat.CopyTo(img)
- saveImg img filepath
-
let drawLine (img: Image<'TColor, 'TDepth>) (color: 'TColor) (x0: int) (y0: int) (x1: int) (y1: int) (thickness: int) =
img.Draw(LineSegment2D(Point(x0, y0), Point(x1, y1)), color, thickness);
+
let drawLineF (img: Image<'TColor, 'TDepth>) (color: 'TColor) (x0: float) (y0: float) (x1: float) (y1: float) (thickness: int) =
img.Draw(LineSegment2DF(PointF(float32 x0, float32 y0), PointF(float32 x1, float32 y1)), color, thickness, CvEnum.LineType.AntiAlias);
+
let drawEllipse (img: Image<'TColor, 'TDepth>) (e: Types.Ellipse) (color: 'TColor) (alpha: float) =
if alpha >= 1.0
then
- img.Draw(Ellipse(PointF(float32 e.Cx, float32 e.Cy), SizeF(2. * e.B |> float32, 2. * e.A |> float32), float32 <| e.Alpha / Math.PI * 180.), color, 1, CvEnum.LineType.AntiAlias)
+ img.Draw(Ellipse(PointF(float32 e.Cx, float32 e.Cy), SizeF(2.f * e.B, 2.f * e.A), e.Alpha / PI * 180.f), color, 1, CvEnum.LineType.AntiAlias)
else
- let windowPosX = e.Cx - e.A - 5.0
- let gapX = windowPosX - (float (int windowPosX))
+ let windowPosX = e.Cx - e.A - 5.f
+ let gapX = windowPosX - (float32 (int windowPosX))
- let windowPosY = e.Cy - e.A - 5.0
- let gapY = windowPosY - (float (int windowPosY))
+ let windowPosY = e.Cy - e.A - 5.f
+ let gapY = windowPosY - (float32 (int windowPosY))
- let roi = Rectangle(int windowPosX, int windowPosY, 2. * (e.A + 5.0) |> int, 2.* (e.A + 5.0) |> int)
+ let roi = Rectangle(int windowPosX, int windowPosY, 2.f * (e.A + 5.f) |> int, 2.f * (e.A + 5.f) |> int)
img.ROI <- roi
if roi = img.ROI // We do not display ellipses touching the edges (FIXME)
then
use i = new Image<'TColor, 'TDepth>(img.ROI.Size)
- i.Draw(Ellipse(PointF(float32 <| (e.A + 5. + gapX) , float32 <| (e.A + 5. + gapY)), SizeF(2. * e.B |> float32, 2. * e.A |> float32), float32 <| e.Alpha / Math.PI * 180.), color, 1, CvEnum.LineType.AntiAlias)
+ i.Draw(Ellipse(PointF(float32 <| (e.A + 5.f + gapX) , float32 <| (e.A + 5.f + gapY)), SizeF(2.f * e.B, 2.f * e.A), e.Alpha / PI * 180.f), color, 1, CvEnum.LineType.AntiAlias)
CvInvoke.AddWeighted(img, 1.0, i, alpha, 0.0, img)
img.ROI <- Rectangle.Empty
projects / master-thesis.git / blobdiff