just saving in middle of nowher`
This commit is contained in:
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fef7e1387b
commit
7d5285748e
@ -92,7 +92,7 @@ fn run_all() -> Result<(), Box<dyn std::error::Error>> {
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if key != -1 {
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println!("key: {key}");
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// 81 <- -> 83
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// 81 <- -> 83
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}
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qualibration.param.key = key;
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if key == 27 {
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@ -62,18 +62,14 @@ impl Qualibration {
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Box::new(WaitSpace::new(beg, end, 400)),
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Box::new(InitBorder::new(beg, end, 400)),
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Box::new(LineDotted::new(beg, end, 2, true, false, 400)),
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Box::new(InitIdcode::new(beg2, end, 400)),
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//Box::new(InitIdcode::new(beg2, end, 400)),
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];
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let seq_names = get_sequence_name(&seq);
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let mut param = Param::new(dir_name.to_owned(), seq_names)?;
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if !param.capture_mode {
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param.load_image()?;
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}
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Ok(Qualibration {
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seq,
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cam,
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param,
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})
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Ok(Qualibration { seq, cam, param })
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}
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pub fn draw_sequence(&mut self) -> Option<Vec<Point>> {
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@ -96,6 +92,11 @@ impl Qualibration {
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pub fn run_step(self: &mut Self) -> Result<(), Box<dyn std::error::Error>> {
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let seq_id = self.param.seq_id;
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let seq_name = self.seq[seq_id].sequence_name();
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println!("\n\n\n\n\n\n\n\n");
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println!("\t\t==================================================================");
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println!("\t\t==================================================================");
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println!("\t\t==================================================================");
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println!("\n\n\n\n\n\n\n\n");
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println!("seq[{seq_id}]: {seq_name}");
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if self.param.capture_mode {
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@ -103,7 +104,7 @@ impl Qualibration {
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let millis = std::time::Duration::from_millis(millis_nb); // TODO: find solution to know when change has been done
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std::thread::sleep(millis);
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}
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let mut frame = Mat::default();
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//println!("sequence: {}:{:?}", self.param.seq_id, &self.seq[self.param.seq_id]);
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if self.param.capture_mode {
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@ -121,7 +122,6 @@ impl Qualibration {
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Ok(())
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}
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}
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pub fn get_sequence_name(seq: &Vec<Box<dyn Sequence>>) -> Vec<String> {
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@ -133,4 +133,3 @@ pub fn get_sequence_name(seq: &Vec<Box<dyn Sequence>>) -> Vec<String> {
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v
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}
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@ -1,3 +1,4 @@
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use std::cmp::Ordering;
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use std::collections::HashSet;
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use std::f64::consts::PI;
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@ -67,6 +68,45 @@ pub fn draw_histograme_dbg(
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Ok(())
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}
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#[allow(dead_code)]
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pub fn draw_histograme_log(window_name: &str, histo: &Vec<f64>, is_log: bool) -> Result<()> {
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let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
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let color: VecN<f64, 4> = VecN::new(210., 210., 255., 255.);
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let mut img = Mat::new_rows_cols_with_default(
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histo.len() as i32 * 2,
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histo.len() as i32 * 2,
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CV_8UC3,
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v,
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)?;
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let mut max = f64::MIN;
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for i in 0..histo.len() {
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if histo[i] > max {
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max = histo[i];
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}
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}
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for i in 0..(histo.len() - 1) {
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let x1 = ((i + 0) * 2) as i32;
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let x2 = ((i + 1) * 2) as i32;
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let (y1, y2);
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if is_log {
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y1 = ((1.-((histo[i + 0] as f64 + 1.).log10() / (max as f64).log10())) * 512.) as i32;
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y2 = ((1.-((histo[i + 1] as f64 + 1.).log10() / (max as f64).log10())) * 512.) as i32;
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} else {
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y1 = ((1. - ((histo[i + 0] as f64) / (max as f64))) * 512.) as i32;
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y2 = ((1. - ((histo[i + 1] as f64) / (max as f64))) * 512.) as i32;
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}
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let pt1 = OcvPoint::new(x1, y1);
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let pt2 = OcvPoint::new(x2, y2);
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line(&mut img, pt1, pt2, color, 1, LINE_AA, 0)?;
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}
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highgui::imshow(window_name, &img)?;
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Ok(())
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}
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#[allow(dead_code)]
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pub fn draw_histograme(window_name: &str, histo: &Vec<f64>) -> Result<()> {
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let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
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@ -379,6 +419,618 @@ pub fn get_horizontal_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)),
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Ok(segments)
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}
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#[derive(Debug)]
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struct Line {
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h_lst: HashSet<(i32, i32)>,
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v_lst: Vec<Pt>,
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line: Vec<Pt>,
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nb_liss: i32,
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}
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impl Line {
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pub fn new(
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pt_all: &mut HashSet<(i32, i32)>,
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y_ordering: bool,
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beg_lowest: bool,
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nb_liss: i32,
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) -> Self {
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let mut illand = Line {
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h_lst: HashSet::new(),
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v_lst: vec![],
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line: vec![],
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nb_liss,
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};
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if pt_all.len() <= 0 {
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return illand;
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}
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//dbg!(&pt_all);
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illand.populate_hlst(pt_all);
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illand.define_line();
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//println!("");
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//illand.define_beg_end(false, beg_lowest);
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//dbg!(&illand);
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illand
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}
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//fn define_beg_end(&mut self, y_ordering: bool, beg_lowest: bool) {
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// // on a tout les point ordonner
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// // on peut les re-ordonner selon un axes interne
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//}
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fn define_line(&mut self) {
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// la ca va etre marant.
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//
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let mut last_id = 0;
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let to_look = [
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(-1, -1),
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(0, -1),
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(1, -1),
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(1, 0),
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(1, 1),
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(0, 1),
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(-1, 1),
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(-1, 0),
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];
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if self.h_lst.len() == 0 {
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return;
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}
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// search botom-left point.
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let mut first = (i32::MAX / 2, 0);
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self.h_lst.iter().for_each(|(x, y)| {
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if *y > first.1 || (*y == first.1 && *x < first.0) {
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first = (*x, *y);
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}
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});
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println!("\nfirst: {first:?}\n");
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let mut ll = self.h_lst.clone();
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let mut l = vec![first];
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let (mut px, mut py) = first;
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ll.remove(&first);
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// adding all borders point to a line
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'line: loop {
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for k in 0..to_look.len() {
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//let id = (k + last_id) % to_look.len();
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let (i, j) = to_look[(k + last_id) % to_look.len()];
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if ll.get(&(i + px, j + py)).is_some() {
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l.push((i + px, j + py));
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ll.remove(&(i + px, j + py));
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(px, py) = (i + px, j + py);
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last_id = (k + last_id + to_look.len() - 2) % to_look.len();
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continue 'line;
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}
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}
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break;
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}
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let (mut min_y, mut max_y) = (f64::MAX, f64::MIN);
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let mut l_tmp: Vec<Pt> = l
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.iter()
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.map(|(x, y)| {
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min_y = (*y as f64).min(min_y);
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max_y = (*y as f64).max(max_y);
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Pt {
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x: *x as f64,
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y: *y as f64,
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}
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})
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.collect();
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// lissage des point
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let raw_pt = l_tmp.clone();
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//println!("[1]raw_pt:{:?}", &raw_pt);
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let nb_liss = self.nb_liss * 2;
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let (c1, c2) = (1., 48.);
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for i in 0..nb_liss {
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let mut nl = vec![];
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for i in 0..l_tmp.len() {
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let (id_prev, id_next) =
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((i + l_tmp.len() - 1) % l_tmp.len(), (i + 1) % l_tmp.len());
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let (prev, pt, next) = (l_tmp[id_prev], l_tmp[i], l_tmp[id_next]);
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nl.push((prev * c1 + pt * c2 + next * c1) / (2. * c1 + c2));
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}
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l_tmp = nl;
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}
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let mut histo_ang = vec![0.; 256];
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let mut length_max = 0.;
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for i in 0..l_tmp.len() {
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let next = l_tmp[(i + 1) % l_tmp.len()];
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let diff = next - l_tmp[i];
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let ang = diff.y.atan2(diff.x);
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let id = ((((ang + PI) / (2. * PI)) * 255.) as usize) % 256;
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let length = (diff.x * diff.x + diff.y * diff.y).sqrt();
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length_max = length.max(length_max);
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histo_ang[id] += 1.;
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}
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let _ = draw_histograme_log("histo ang", &histo_ang, false);
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let mut histo_ang_diff = vec![0.; 256];
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let mirange = 3;
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let mut id_out = vec![0];
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for i in 0..l_tmp.len() {
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let next = l_tmp[(i + 1) % l_tmp.len()];
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let next2 = l_tmp[(i + 2) % l_tmp.len()];
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let diff1 = next - l_tmp[i];
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let diff2 = next2 - next;
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let ang1 = diff1.y.atan2(diff1.x);
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let ang2 = diff2.y.atan2(diff2.x);
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let id = (((((ang2 - ang1) + PI) / (2. * PI)) * 255.) as usize) % 256;
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if !(id >= 128 - mirange && id <= 128 + mirange) {
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id_out.push(i);
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//println!("id:{i}");
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}
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histo_ang_diff[id] += 1.;
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}
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let _ = draw_histograme_log("histo ang diff", &histo_ang_diff, true);
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//let mut histo_lenght = vec![0.; 256];
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//for i in 0..l_tmp.len() {
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// let next = l_tmp[(i + 1) % l_tmp.len()];
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// let diff = next - l_tmp[i];
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// //let ang = diff.y.atan2(diff.x);
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// //let ang_id = ((ang / (2. * PI) * 256.) as usize) % 256;
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// let length = (diff.x * diff.x + diff.y * diff.y).sqrt();
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// let id = (length / length_max * 255.) as usize % 256;
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// histo_lenght[id] += 1.;
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//}
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// draw histo ang
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// draw histo dst
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//let _ = draw_histograme_log("histo length", &histo_lenght, false);
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// opposite side
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// Le but c'est de trouver le point le plus proche mais pas un point voisin
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// On va le dessiner pour une partie des point seulement
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let mut diff = vec![];
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for i in 0..id_out.len()-1 {
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let d = id_out[i+1] - id_out[i];
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diff.push((d, id_out[i], id_out[i+1]));
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}
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diff.sort_by(|a, b| {
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match (a.0, b.0) {
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(a, b) if a < b => Ordering::Greater,
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(a, b) if a == b => Ordering::Equal,
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_ => Ordering::Less,
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}
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});
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if diff.len() < 2 {
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return ;
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}
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let mut dio = vec![diff[0], diff[1]];
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dio.sort_by(|a, b| {
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match (a.1, b.1) {
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(a, b) if a > b => Ordering::Greater,
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(a, b) if a == b => Ordering::Equal,
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_ => Ordering::Less,
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}
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});
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//dbg!("diff:", &diff[..3]);
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//dbg!(&id_out);
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dbg!(&dio);
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//*
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////println!("[2]raw_pt:{:?}", &raw_pt);
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//let left: Vec<Pt> = raw_pt[dio[0].1..=dio[0].2].into();
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//let mut right = vec![];
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//for i in (dio[1].1..=dio[1].2).rev() {
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////for i in (id_out[1]..=id_out[2]).rev() {
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// right.push(raw_pt[i]);
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//}
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//println!("[2]raw_pt:{:?}", &raw_pt);
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let left: Vec<Pt> = l_tmp[dio[0].1..=dio[0].2].into();
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let mut right = vec![];
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for i in (dio[1].1..=dio[1].2).rev() {
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//for i in (id_out[1]..=id_out[2]).rev() {
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right.push(l_tmp[i]);
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}
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let mut couple = vec!();
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let nb_jump = 10;
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let mut id_last = 0;
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let range_id = 20;
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for i in 0..left.len() {
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//if i % nb_jump == 0 {
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let mut dist = vec![];
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let from = (id_last as i32 - range_id as i32).max(0) as usize;
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let to = (id_last + range_id).min(right.len()-1);
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for id in from..=to {
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let df = right[id] - left[i];
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let dst = (df.cross(&df)).sqrt();
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dist.push((id, dst));
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}
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dist.sort_by(|a, b| {
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if a.1 > b.1 {
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Ordering::Greater
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} else if a.1 == b.1 {
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Ordering::Equal
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} else {
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Ordering::Less
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}
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});
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//println!("closest: {:?}", &dist[0]);
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id_last = dist[0].0; //dbg!(dist);
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couple.push((left[i], right[id_last]));
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//}
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}
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let l3: Vec<Pt> = couple.iter().map(|(l, r)| (*l+*r)/2.).collect();
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//*/
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//
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//let space = 100;
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//let dst = 30;
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//for i in 0..l_tmp.len() {
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// if i % space == 0 {
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// //
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// }
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//}
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self.line = l3;
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println!("rest:{}\t", ll.len());
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}
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/// the function also set: self.v_lst
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fn populate_hlst(&mut self, pt_all: &mut HashSet<(i32, i32)>) {
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let first = pt_all.iter().next().unwrap();
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let mut added = HashSet::from([(first.0, first.1)]);
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let to_look = [
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(-1, 0),
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(0, -1),
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(1, 0),
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(0, 1),
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(-1, -1),
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(-1, 1),
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(1, 1),
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(1, -1),
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];
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self.h_lst.extend(&added);
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while added.len() > 0 {
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let mut tmp = HashSet::new();
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for (x, y) in added {
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for (i, j) in to_look {
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if let Some(pt_new) = pt_all.get(&(x + i, y + j)) {
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tmp.insert(*pt_new);
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}
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}
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}
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self.h_lst.extend(tmp.clone());
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tmp.iter().for_each(|pt| {
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pt_all.remove(pt);
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});
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added = tmp;
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}
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let mut tmp = HashSet::new();
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self.h_lst.iter().for_each(|(x, y)| {
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for (i, j) in to_look[..4].iter() {
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if self.h_lst.get(&(x + i, y + j)).is_none() {
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tmp.insert((*x, *y));
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}
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}
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});
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self.h_lst = tmp;
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println!("\t\t\t\tfinal selecteted:{}", self.h_lst.len());
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//dbg!(a);
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//println!(I);
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}
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}
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pub fn get_lines(
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m: &Mat,
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y_ordering: bool,
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beg_lowest: bool,
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nb_liss: i32,
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) -> Result<Vec<Vec<Pt>>> {
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// donc on va refaire un algo de detection de segement
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// * on va chercher des illot:
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// * chaque illo on lui definie des limit (min, max) sur x et y
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// * on calcule le centre
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let mut pt_inside = HashSet::new();
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let (cols, rows) = (m.cols(), m.rows());
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for j in 0..rows {
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for i in 0..cols {
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let v: &Point3_<u8> = m.at_2d(j, i)?;
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if v.x != 0 && v.y != 0 && v.z != 0 {
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pt_inside.insert((i, j));
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}
|
||||
}
|
||||
}
|
||||
|
||||
println!("\tFlifou: {}\t\tpt_inserted:{}", line!(), pt_inside.len());
|
||||
|
||||
let mut lines = vec![];
|
||||
while pt_inside.len() > 0 {
|
||||
lines.push(Line::new(&mut pt_inside, y_ordering, beg_lowest, nb_liss));
|
||||
}
|
||||
|
||||
println!("\tFlifou: {}\t\tnb_line:{}", line!(), lines.len());
|
||||
|
||||
// pour chaque ligne
|
||||
Ok(lines.iter().map(|line| line.line.clone()).collect())
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
struct Seg {
|
||||
h_lst: HashSet<(i32, i32)>,
|
||||
v_lst: Vec<Pt>,
|
||||
min: Pt,
|
||||
max: Pt,
|
||||
center: Pt,
|
||||
beg: Pt,
|
||||
end: Pt,
|
||||
}
|
||||
|
||||
impl Seg {
|
||||
pub fn new(pt_all: &mut HashSet<(i32, i32)>, y_ordering: bool, beg_lowest: bool) -> Self {
|
||||
let mut illand = Seg {
|
||||
min: Pt::from((f64::MAX, f64::MAX)),
|
||||
max: Pt::from((f64::MIN, f64::MIN)),
|
||||
center: Pt::from((0., 0.)),
|
||||
beg: Pt::from((0., 0.)),
|
||||
end: Pt::from((0., 0.)),
|
||||
h_lst: HashSet::new(),
|
||||
v_lst: vec![],
|
||||
};
|
||||
if pt_all.len() <= 0 {
|
||||
return illand;
|
||||
}
|
||||
//dbg!(&pt_all);
|
||||
illand.populate_hlst(pt_all);
|
||||
//println!("");
|
||||
illand.define_beg_end(false, beg_lowest);
|
||||
//dbg!(&illand);
|
||||
illand
|
||||
}
|
||||
|
||||
//fn define_beg_end(&mut self, y_ordering: bool, beg_lowest: bool) {
|
||||
// // on a tout les point ordonner
|
||||
// // on peut les re-ordonner selon un axes interne
|
||||
//}
|
||||
|
||||
/// the function also set: self.v_lst
|
||||
fn populate_hlst(&mut self, pt_all: &mut HashSet<(i32, i32)>) {
|
||||
let first = pt_all.iter().next().unwrap();
|
||||
let mut added = HashSet::from([(first.0, first.1)]);
|
||||
let to_look = [
|
||||
(-1, 0),
|
||||
(0, -1),
|
||||
(1, 0),
|
||||
(0, 1),
|
||||
(-1, -1),
|
||||
(-1, 1),
|
||||
(1, 1),
|
||||
(1, -1),
|
||||
];
|
||||
self.h_lst.extend(&added);
|
||||
while added.len() > 0 {
|
||||
let mut tmp = HashSet::new();
|
||||
for (x, y) in added {
|
||||
for (i, j) in to_look {
|
||||
if let Some(pt_new) = pt_all.get(&(x + i, y + j)) {
|
||||
tmp.insert(*pt_new);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.h_lst.extend(tmp.clone());
|
||||
tmp.iter().for_each(|pt| {
|
||||
pt_all.remove(pt);
|
||||
});
|
||||
added = tmp;
|
||||
}
|
||||
|
||||
// calcule min, max, center
|
||||
self.h_lst.iter().for_each(|(x, y)| {
|
||||
self.min.x = (*x as f64).min(self.min.x);
|
||||
self.max.x = (*x as f64).max(self.max.x);
|
||||
self.min.y = (*y as f64).min(self.min.y);
|
||||
self.max.y = (*y as f64).max(self.max.y);
|
||||
|
||||
self.center.x += *x as f64;
|
||||
self.center.y += *y as f64;
|
||||
});
|
||||
|
||||
self.center /= self.h_lst.len() as f64;
|
||||
|
||||
self.v_lst = self
|
||||
.h_lst
|
||||
.iter()
|
||||
.map(|(x, y)| Pt {
|
||||
x: (*x as f64),
|
||||
y: (*y as f64),
|
||||
})
|
||||
.collect();
|
||||
}
|
||||
|
||||
/// y_ordering: means we ordering vertically. Else we ordering horizontay
|
||||
/// beg_lowest: means first value are the lowset. Else first value are the biggest
|
||||
fn define_beg_end(&mut self, y_ordering: bool, beg_lowest: bool) {
|
||||
let pts: Vec<Pt> = self
|
||||
.h_lst
|
||||
.iter()
|
||||
.map(|(x, y)| {
|
||||
Pt {
|
||||
x: (*x as f64),
|
||||
y: (*y as f64),
|
||||
} - self.center
|
||||
})
|
||||
.collect();
|
||||
|
||||
let y_cmp = |pt_a: &Pt, pt_b: &Pt| {
|
||||
if (pt_a.y > pt_b.y) == beg_lowest {
|
||||
Ordering::Greater
|
||||
} else if pt_a.y == pt_b.y {
|
||||
if pt_a.x.abs() > pt_b.x.abs() {
|
||||
Ordering::Greater
|
||||
} else if pt_a.x.abs() == pt_b.x.abs() {
|
||||
Ordering::Equal
|
||||
} else {
|
||||
Ordering::Less
|
||||
}
|
||||
} else {
|
||||
Ordering::Less
|
||||
}
|
||||
};
|
||||
let x_cmp = |pt_a: &Pt, pt_b: &Pt| {
|
||||
if (pt_a.x > pt_b.x) == beg_lowest {
|
||||
Ordering::Greater
|
||||
} else if pt_a.x == pt_b.x {
|
||||
if pt_a.y.abs() > pt_b.y.abs() {
|
||||
Ordering::Greater
|
||||
} else if pt_a.y.abs() == pt_b.y.abs() {
|
||||
Ordering::Equal
|
||||
} else {
|
||||
Ordering::Less
|
||||
}
|
||||
} else {
|
||||
Ordering::Less
|
||||
}
|
||||
};
|
||||
|
||||
//println!("\n\nserching axes:");
|
||||
// finding by dichotomie
|
||||
// finding best central axes.
|
||||
let mut begin = 0.;
|
||||
let mut len = 8.;
|
||||
let nb_deg = 8;
|
||||
let nb_iter = 20;
|
||||
let mut id_min = 0;
|
||||
let mut v_max_x = vec![];
|
||||
for _iter in 0..nb_iter {
|
||||
//println!("iter:{_iter}");
|
||||
v_max_x = vec![];
|
||||
for i in 0..(nb_deg + 2) {
|
||||
let rad = (i as f64 - 1.) / len * PI + begin;
|
||||
let axes_x = Pt::from((rad.cos(), rad.sin()));
|
||||
let axes_y = Pt::from((-rad.sin(), rad.cos()));
|
||||
let new_base: Vec<Pt> = pts
|
||||
.iter()
|
||||
.map(|pt| Pt::from((pt.cross(&axes_x), pt.cross(&axes_y))))
|
||||
.collect();
|
||||
|
||||
let mut max_x = 0.;
|
||||
new_base.iter().for_each(|pt| {
|
||||
if pt.x.abs() > max_x {
|
||||
max_x = pt.x.abs();
|
||||
}
|
||||
});
|
||||
//println!("\t[i:{i}]rad:{rad:32.26}\tval: {max_x}");
|
||||
v_max_x.push((rad, max_x));
|
||||
}
|
||||
|
||||
id_min = 0;
|
||||
for i in 1..=nb_deg {
|
||||
let (p, n, a) = (v_max_x[i - 1].1, v_max_x[i].1, v_max_x[i + 1].1);
|
||||
let cnd = (y_ordering && n <= p && n <= a) || (!y_ordering && n >= p && n >= a);
|
||||
id_min = if cnd { i - 1 } else { id_min };
|
||||
}
|
||||
|
||||
begin = v_max_x[id_min].0;
|
||||
len *= 4.;
|
||||
}
|
||||
|
||||
let rad = v_max_x[id_min + 1].0;
|
||||
let axes_x = Pt::from((rad.cos(), rad.sin()));
|
||||
let axes_y = Pt::from((-rad.sin(), rad.cos()));
|
||||
let mut npts: Vec<Pt> = pts
|
||||
.iter()
|
||||
.map(|pt| Pt::from((pt.cross(&axes_x), pt.cross(&axes_y))))
|
||||
.collect();
|
||||
|
||||
if y_ordering {
|
||||
npts.sort_by(y_cmp);
|
||||
} else {
|
||||
npts.sort_by(x_cmp);
|
||||
}
|
||||
|
||||
let mut beg = Pt::from((0., 0.));
|
||||
for pt in npts[..(npts.len() / 2)].iter() {
|
||||
beg += *pt;
|
||||
}
|
||||
beg /= (npts.len() / 2) as f64;
|
||||
|
||||
let mut end = Pt::from((0., 0.));
|
||||
for pt in npts[(npts.len() / 2)..].iter() {
|
||||
end += *pt;
|
||||
}
|
||||
end /= (npts.len() - (npts.len() / 2)) as f64;
|
||||
|
||||
let beg_tmp = axes_x * beg.x + axes_y * beg.y + self.center;
|
||||
let end_tmp = axes_x * end.x + axes_y * end.y + self.center;
|
||||
|
||||
self.beg = (beg_tmp - end_tmp) * 1.5 + end_tmp;
|
||||
self.end = (end_tmp - beg_tmp) * 1.5 + beg_tmp;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_segment(
|
||||
m: &Mat,
|
||||
y_ordering: bool,
|
||||
beg_lowest: bool,
|
||||
) -> Result<Vec<((f64, f64), (f64, f64))>> {
|
||||
// donc on va refaire un algo de detection de segement
|
||||
// * on va chercher des illot:
|
||||
// * chaque illo on lui definie des limit (min, max) sur x et y
|
||||
// * on calcule le centre
|
||||
let mut pt_inside = HashSet::new();
|
||||
let (cols, rows) = (m.cols(), m.rows());
|
||||
for j in 0..rows {
|
||||
for i in 0..cols {
|
||||
let v: &Point3_<u8> = m.at_2d(j, i)?;
|
||||
if v.x != 0 && v.y != 0 && v.z != 0 {
|
||||
pt_inside.insert((i, j));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
let mut illands = vec![];
|
||||
while pt_inside.len() > 0 {
|
||||
illands.push(Seg::new(&mut pt_inside, y_ordering, beg_lowest));
|
||||
}
|
||||
//todo!();
|
||||
if y_ordering {
|
||||
illands.sort_by(|a, b| {
|
||||
if beg_lowest && a.center.y > b.center.y || !beg_lowest && a.center.y < b.center.y {
|
||||
Ordering::Greater
|
||||
} else if a.center.y == b.center.y {
|
||||
Ordering::Equal
|
||||
} else {
|
||||
Ordering::Less
|
||||
}
|
||||
});
|
||||
} else {
|
||||
illands.sort_by(|a, b| {
|
||||
if beg_lowest && a.center.x > b.center.x || !beg_lowest && a.center.x < b.center.x {
|
||||
Ordering::Greater
|
||||
} else if a.center.x == b.center.x {
|
||||
Ordering::Equal
|
||||
} else {
|
||||
Ordering::Less
|
||||
}
|
||||
});
|
||||
}
|
||||
let segments = illands
|
||||
.iter()
|
||||
.map(|illand| ((illand.beg.x, illand.beg.y), (illand.end.x, illand.end.y)))
|
||||
.collect();
|
||||
Ok(segments)
|
||||
}
|
||||
// On cherche des segment regourper par ilot de point. chaque illot a une plage de valeur en y qui
|
||||
// lui est propre, aucun autre ilot aura des point dans une plage de valeurs d'un autre illot.
|
||||
pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f32)>> {
|
||||
@ -463,7 +1115,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
|
||||
}
|
||||
center /= iland.len() as f64;
|
||||
|
||||
let max_deg = 360;
|
||||
let max_deg = 8;
|
||||
let (mut _err_min, mut rad_min, mut x_min) = (f64::MAX, 0., f64::MAX);
|
||||
let mut iland_min = vec![];
|
||||
for deg in 0..max_deg {
|
||||
@ -476,7 +1128,6 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
|
||||
x: -y_axis.y,
|
||||
y: y_axis.x,
|
||||
};
|
||||
let mut _err = 0.;
|
||||
let mut tmp_iland = vec![];
|
||||
let mut x_abs_max = f64::MIN;
|
||||
for pt in iland {
|
||||
@ -485,7 +1136,6 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
|
||||
x: p.cross(&x_axis),
|
||||
y: p.cross(&y_axis),
|
||||
};
|
||||
_err += p.x * p.x;
|
||||
tmp_iland.push(p);
|
||||
if x_abs_max < p.x.abs() {
|
||||
x_abs_max = p.x.abs();
|
||||
@ -496,11 +1146,6 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
|
||||
rad_min = rad;
|
||||
iland_min = tmp_iland;
|
||||
}
|
||||
//if _err < _err_min {
|
||||
// err_min = _err;
|
||||
// rad_min = rad;
|
||||
// iland_min = tmp_iland;
|
||||
//}
|
||||
}
|
||||
iland_min.sort_by(|pta, ptb| {
|
||||
if pta.y < ptb.y {
|
||||
|
||||
@ -51,9 +51,9 @@ impl Param {
|
||||
b: 0,
|
||||
nb_all: 120,
|
||||
nb_visible: 40,
|
||||
nb_liss: 10,
|
||||
nb_liss: 100,
|
||||
nb_wait: 3,
|
||||
tresh: Treshold::new("histogram", 160, 255)?,
|
||||
tresh: Treshold::new("histogram", 170, 255)?,
|
||||
canny_v1: 170,
|
||||
canny_v2: 255,
|
||||
hough_param: HoughLine {
|
||||
|
||||
@ -7,15 +7,15 @@ use crate::qualibration::{
|
||||
|
||||
use crate::qualibration::annalyse::image_diff;
|
||||
use crate::qualibration::borders::{
|
||||
bord_mult, get_extermities, get_intersection, probabilistic_hough, mix_borders,
|
||||
bord_mult, get_extermities, get_intersection, mix_borders, probabilistic_hough,
|
||||
};
|
||||
|
||||
use opencv::{
|
||||
calib3d,
|
||||
core::{Mat, Point as OcvPoint, Size, VecN, Vector, Scalar, BORDER_CONSTANT},
|
||||
imgproc::{self, canny, cvt_color, COLOR_BGR2GRAY, line},
|
||||
Result,
|
||||
core::{Mat, Point as OcvPoint, Scalar, Size, VecN, Vector, BORDER_CONSTANT},
|
||||
highgui,
|
||||
imgproc::{self, canny, cvt_color, line, COLOR_BGR2GRAY},
|
||||
Result,
|
||||
};
|
||||
|
||||
opencv::opencv_branch_4! {
|
||||
|
||||
@ -2,19 +2,19 @@ use crate::{
|
||||
point::{Color, Point},
|
||||
qualibration::{
|
||||
annalyse::{
|
||||
draw_histograme_bgr_tresh, get_horizontal_segment, get_vertical_segment, histogram_3d,
|
||||
image_diff,
|
||||
draw_histograme_bgr_tresh, get_horizontal_segment, get_lines, get_segment,
|
||||
get_vertical_segment, histogram_3d, image_diff,
|
||||
},
|
||||
compute_image::{image_treshold, image_warp},
|
||||
param::Param,
|
||||
Sequence,
|
||||
},
|
||||
};
|
||||
|
||||
use opencv::{
|
||||
core::{bitwise_and, in_range, Mat, Point as OcvPoint, Scalar, VecN, BORDER_CONSTANT},
|
||||
highgui,
|
||||
imgproc::{self, line},
|
||||
prelude::*,
|
||||
Result,
|
||||
};
|
||||
|
||||
@ -39,7 +39,14 @@ pub struct LineDotted {
|
||||
}
|
||||
|
||||
impl LineDotted {
|
||||
pub fn new(beg: Point, end: Point, factor: usize, continuous_y: bool, continuous_x: bool, nb_millis: u64) -> Self {
|
||||
pub fn new(
|
||||
beg: Point,
|
||||
end: Point,
|
||||
factor: usize,
|
||||
continuous_y: bool,
|
||||
continuous_x: bool,
|
||||
nb_millis: u64,
|
||||
) -> Self {
|
||||
Self {
|
||||
finished: false,
|
||||
cnt: 0,
|
||||
@ -83,8 +90,8 @@ impl Sequence for LineDotted {
|
||||
|
||||
// go on the continus_axes in black to gain speed
|
||||
for i in 0..nb_wait {
|
||||
let val_x = self.end.x;//i as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
|
||||
let val_y = self.end.y;//i as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
|
||||
let val_x = self.end.x; //i as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
|
||||
let val_y = self.end.y; //i as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
|
||||
pl.push(Point {
|
||||
x: if self.continuous_x { val_x } else { self.beg.x },
|
||||
y: if self.continuous_y { val_y } else { self.beg.y },
|
||||
@ -111,16 +118,18 @@ impl Sequence for LineDotted {
|
||||
color: c,
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
Some(pl)
|
||||
}
|
||||
|
||||
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
|
||||
if self.cnt <= ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 2 {
|
||||
println!("cnt: {}", self.cnt);
|
||||
self.cnt += 1;
|
||||
return Ok(())
|
||||
return Ok(());
|
||||
}
|
||||
//let len = ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 1;
|
||||
println!("Falgadouf :{} cnt:{}", line!(), self.cnt);
|
||||
//let len = ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 1;
|
||||
|
||||
//if self.cnt > ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 1 {
|
||||
// if mem.capture_mode {
|
||||
@ -133,7 +142,7 @@ impl Sequence for LineDotted {
|
||||
//println!("Groboulli: {}", line!());
|
||||
let ids = mem.seq_id;
|
||||
let img_len = mem.imgs[ids].len();
|
||||
let img_id = 2;//(img_len-1).min(self.cnt);
|
||||
let img_id = 2; //(img_len-1).min(self.cnt);
|
||||
|
||||
let background = mem.imgs[ids][0].to_owned();
|
||||
let line_dot = mem.imgs[ids][img_id].to_owned();
|
||||
@ -141,29 +150,32 @@ impl Sequence for LineDotted {
|
||||
//highgui::imshow("lone dotted", &diff)?;
|
||||
|
||||
let warped_image = image_warp(&diff, &mem.homography, mem.h_size)?;
|
||||
let mut bord_treshed = image_treshold(&warped_image, &mem.tresh)?;
|
||||
highgui::imshow("Warped and treshed Image", &bord_treshed)?;
|
||||
let mut seg_treshed = image_treshold(&warped_image, &mem.tresh)?;
|
||||
|
||||
let histo = histogram_3d(&warped_image, mem.nb_liss)?;
|
||||
let histo = histogram_3d(&diff, mem.nb_liss)?;
|
||||
draw_histograme_bgr_tresh("histo bgr", &histo, &mem.tresh)?;
|
||||
//let segs = get_segment(&seg_treshed, true, true)?;
|
||||
//println!("Falgadouf: {} BEFORE", line!());
|
||||
let segs = get_lines(&seg_treshed, true, true, mem.nb_liss)?;
|
||||
////println!("Falgadouf: {} nb_seg:{}", line!(), segs.len());
|
||||
|
||||
let segments = if self.continuous_y {
|
||||
get_vertical_segment(&bord_treshed)?
|
||||
} else {
|
||||
get_horizontal_segment(&bord_treshed)?
|
||||
};
|
||||
for (i, (((x0, y0), (x1, y1)), _size)) in segments.iter().enumerate() {
|
||||
let blue = (i as f64 / segments.len() as f64) * 255.;
|
||||
let color: VecN<f64, 4> = VecN::new(blue, 128., 0., 255.);
|
||||
let pa = VecN::from_array([*x0 as i32, *y0 as i32]);
|
||||
let pb = VecN::from_array([*x1 as i32, *y1 as i32]);
|
||||
let a = OcvPoint::from_vec2(pa);
|
||||
let b = OcvPoint::from_vec2(pb);
|
||||
line(&mut bord_treshed, a, b, color, 1, LINE_8, 0)?;
|
||||
for seg in segs {
|
||||
//println!("Falgadouf: {}", line!());
|
||||
for i in 0..(seg.len() - 1) {
|
||||
//println!("Falgadouf: {}", line!());
|
||||
let ((x0, y0), (x1, y1)) = ((seg[i].x, seg[i].y), (seg[i + 1].x, seg[i + 1].y));
|
||||
let blue = (i as f64 / seg.len() as f64) * 255.;
|
||||
let color: VecN<f64, 4> = VecN::new(blue, 128., 0., 255.);
|
||||
let pa = VecN::from_array([x0 as i32, y0 as i32]);
|
||||
let pb = VecN::from_array([x1 as i32, y1 as i32]);
|
||||
let a = OcvPoint::from_vec2(pa);
|
||||
let b = OcvPoint::from_vec2(pb);
|
||||
line(&mut seg_treshed, a, b, color, 1, LINE_8, 0)?;
|
||||
}
|
||||
}
|
||||
highgui::imshow("segemnt detector", &bord_treshed)?;
|
||||
self.cnt += 1;
|
||||
self.finished = true;
|
||||
//println!("Falgadouf: {}", line!());
|
||||
highgui::imshow("Warped and treshed Image + segment", &seg_treshed)?;
|
||||
//self.finished = true;
|
||||
Ok(())
|
||||
}
|
||||
fn is_capture(&self) -> bool {
|
||||
|
||||
@ -10,7 +10,10 @@ pub struct LoadImage {
|
||||
|
||||
impl LoadImage {
|
||||
pub fn new() -> LoadImage {
|
||||
LoadImage { finished: false, nb_millis: 0 }
|
||||
LoadImage {
|
||||
finished: false,
|
||||
nb_millis: 0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -10,7 +10,10 @@ pub struct SaveImage {
|
||||
|
||||
impl SaveImage {
|
||||
pub fn new() -> SaveImage {
|
||||
SaveImage { finished: false, nb_millis: 0}
|
||||
SaveImage {
|
||||
finished: false,
|
||||
nb_millis: 0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -87,6 +87,12 @@ impl From<(f64, f64)> for Pt {
|
||||
}
|
||||
}
|
||||
|
||||
//impl From<Pt> for (f64, f64) {
|
||||
// fn from(pt: Pt) -> Self {
|
||||
// (pt.x, pt.y)
|
||||
// }
|
||||
//}
|
||||
|
||||
impl From<&(f64, f64)> for Pt {
|
||||
fn from((x, y): &(f64, f64)) -> Self {
|
||||
Pt { x: *x, y: *y }
|
||||
|
||||
Loading…
Reference in New Issue
Block a user