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ElSe.cpp
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ElSe.cpp
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/*
Version 1.0, 17.12.2015, Copyright University of Tübingen.
The Code is created based on the method from the paper:
"ElSe: Ellipse Selection for Robust Pupil Detection in Real-World Environments", W. Fuhl, T. C. Santini, T. C. Kübler, E. Kasneci
ETRA 2016 : Eye Tracking Research and Application 2016
The code and the algorithm are for non-comercial use only.
*/
#include <opencv2/core/mat.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
#include <opencv2/opencv.hpp>
#include "ElSe.h"
using namespace cv;
float ElSe::minArea = 0;
float ElSe::maxArea = 0;
#define IMG_SIZE 640 //400
#define MAX_LINE 10000
static bool is_good_ellipse_eval(RotatedRect *ellipse, Mat *pic, int *erg)
{
if (ellipse->center.x == 0 && ellipse->center.y == 0)
return false;
float x0 = ellipse->center.x;
float y0 = ellipse->center.y;
int st_x = (int)ceil(x0 - (ellipse->size.width / 4.0));
int st_y = (int)ceil(y0 - (ellipse->size.height / 4.0));
int en_x = (int)floor(x0 + (ellipse->size.width / 4.0));
int en_y = (int)floor(y0 + (ellipse->size.height / 4.0));
float val = 0.0;
float val_cnt = 0;
float ext_val = 0.0;
for (int i = st_x; i < en_x; i++)
for (int j = st_y; j < en_y; j++)
{
if (i > 0 && i < pic->cols && j > 0 && j < pic->rows)
{
val += pic->data[(pic->cols * j) + i];
val_cnt++;
}
}
if (val_cnt > 0)
val = val / val_cnt;
else
return false;
val_cnt = 0;
st_x = (int)(x0 - (ellipse->size.width * 0.75));
st_y = (int)(y0 - (ellipse->size.height * 0.75));
en_x = (int)(x0 + (ellipse->size.width * 0.75));
en_y = (int)(y0 + (ellipse->size.height * 0.75));
int in_st_x = (int)ceil(x0 - (ellipse->size.width / 2));
int in_st_y = (int)ceil(y0 - (ellipse->size.height / 2));
int in_en_x = (int)floor(x0 + (ellipse->size.width / 2));
int in_en_y = (int)floor(y0 + (ellipse->size.height / 2));
for (int i = st_x; i < en_x; i++)
for (int j = st_y; j < en_y; j++)
{
if (!(i >= in_st_x && i <= in_en_x && j >= in_st_y && j <= in_en_y))
if (i > 0 && i < pic->cols && j > 0 && j < pic->rows)
{
ext_val += pic->data[(pic->cols * j) + i];
val_cnt++;
}
}
if (val_cnt > 0)
ext_val = ext_val / val_cnt;
else
return false;
val = ext_val - val;
*erg = (int)val;
if (val > 10)
return true;
else
return false;
}
static int calc_inner_gray(Mat *pic, std::vector<Point> curve, RotatedRect ellipse)
{
int gray_val = 0;
int gray_cnt = 0;
Mat checkmap = Mat::zeros(pic->size(), CV_8U);
for (unsigned int i = 0; i < curve.size(); i++)
{
int vec_x = (int)round(curve[i].x - ellipse.center.x);
int vec_y = (int)round(curve[i].y - ellipse.center.y);
for (float p = 0.95f; p > 0.80f; p -= 0.01f)
{ //0.75;-0.05
int p_x = (int)round(ellipse.center.x + float((float(vec_x) * p) + 0.5));
int p_y = (int)round(ellipse.center.y + float((float(vec_y) * p) + 0.5));
if (p_x > 0 && p_x < pic->cols && p_y > 0 && p_y < pic->rows)
{
if (checkmap.data[(pic->cols * p_y) + p_x] == 0)
{
checkmap.data[(pic->cols * p_y) + p_x] = 1;
gray_val += (unsigned int)pic->data[(pic->cols * p_y) + p_x];
gray_cnt++;
}
}
}
}
if (gray_cnt > 0)
gray_val = gray_val / gray_cnt;
else
gray_val = 1000;
return gray_val;
}
static std::vector<std::vector<Point>> get_curves(Mat *pic, Mat *edge, Mat *magni, int start_x, int end_x, int start_y, int end_y, double mean_dist, int inner_color_range)
{
(void)magni;
std::vector<std::vector<Point>> all_lines;
std::vector<std::vector<Point>> all_curves;
std::vector<Point> curve;
std::vector<Point> all_means;
if (start_x < 2)
start_x = 2;
if (start_y < 2)
start_y = 2;
if (end_x > pic->cols - 2)
end_x = pic->cols - 2;
if (end_y > pic->rows - 2)
end_y = pic->rows - 2;
int curve_idx = 0;
Point mean_p;
bool add_curve;
int mean_inner_gray;
int mean_inner_gray_last = 1000000;
all_curves.clear();
all_means.clear();
all_lines.clear();
bool check[IMG_SIZE][IMG_SIZE];
for (int i = 0; i < IMG_SIZE; i++)
for (int j = 0; j < IMG_SIZE; j++)
check[i][j] = 0;
//get all lines
for (int i = start_x; i < end_x; i++)
for (int j = start_y; j < end_y; j++)
{
if (edge->data[(edge->cols * (j)) + (i)] > 0 && !check[i][j])
{
check[i][j] = 1;
curve.clear();
curve_idx = 0;
curve.push_back(Point(i, j));
mean_p.x = i;
mean_p.y = j;
curve_idx++;
int akt_idx = 0;
while (akt_idx < curve_idx)
{
Point akt_pos = curve[akt_idx];
for (int k1 = -1; k1 < 2; k1++)
for (int k2 = -1; k2 < 2; k2++)
{
if (akt_pos.x + k1 >= start_x && akt_pos.x + k1 < end_x && akt_pos.y + k2 >= start_y && akt_pos.y + k2 < end_y)
if (!check[akt_pos.x + k1][akt_pos.y + k2])
if (edge->data[(edge->cols * (akt_pos.y + k2)) + (akt_pos.x + k1)] > 0)
{
check[akt_pos.x + k1][akt_pos.y + k2] = 1;
mean_p.x += akt_pos.x + k1;
mean_p.y += akt_pos.y + k2;
curve.push_back(Point(akt_pos.x + k1, akt_pos.y + k2));
curve_idx++;
}
}
akt_idx++;
}
if (curve_idx > 10 && curve.size() > 10)
{
mean_p.x = (int)floor((double(mean_p.x) / double(curve_idx)) + 0.5);
mean_p.y = (int)floor((double(mean_p.y) / double(curve_idx)) + 0.5);
all_means.push_back(mean_p);
all_lines.push_back(curve);
}
}
}
RotatedRect selected_ellipse;
for (unsigned int iii = 0; iii < all_lines.size(); iii++)
{
curve = all_lines.at(iii);
mean_p = all_means.at(iii);
int results = 0;
add_curve = true;
RotatedRect ellipse;
for (unsigned int i = 0; i < curve.size(); i++)
if (abs(mean_p.x - curve[i].x) <= mean_dist && abs(mean_p.y - curve[i].y) <= mean_dist)
add_curve = false;
//is ellipse fit possible
if (add_curve)
{
ellipse = fitEllipse(Mat(curve));
if (ellipse.center.x < 0 || ellipse.center.y < 0 ||
ellipse.center.x > pic->cols || ellipse.center.y > pic->rows)
{
add_curve = false;
}
if (ellipse.size.height > 3 * ellipse.size.width ||
ellipse.size.width > 3 * ellipse.size.height)
{
add_curve = false;
}
if (add_curve)
{ // pupil area
if (ellipse.size.width * ellipse.size.height < ElSe::minArea ||
ellipse.size.width * ellipse.size.height > ElSe::maxArea)
add_curve = false;
}
if (add_curve)
{
if (!is_good_ellipse_eval(&ellipse, pic, &results))
add_curve = false;
}
}
if (add_curve)
{
if (inner_color_range >= 0)
{
mean_inner_gray = 0;
mean_inner_gray = calc_inner_gray(pic, curve, ellipse);
mean_inner_gray = (int)(mean_inner_gray * (1 + abs(ellipse.size.height - ellipse.size.width)));
if (mean_inner_gray_last > mean_inner_gray)
{
mean_inner_gray_last = mean_inner_gray;
all_curves.clear();
all_curves.push_back(curve);
}
else if (mean_inner_gray_last == mean_inner_gray)
{
if (curve.size() > all_curves[0].size())
{
mean_inner_gray_last = mean_inner_gray;
all_curves.clear();
all_curves.push_back(curve);
selected_ellipse = ellipse;
}
}
}
}
}
return all_curves;
}
static RotatedRect find_best_edge(Mat *pic, Mat *edge, Mat *magni, int start_x, int end_x, int start_y, int end_y, double mean_dist, int inner_color_range)
{
RotatedRect ellipse;
ellipse.center.x = 0;
ellipse.center.y = 0;
ellipse.angle = 0.0;
ellipse.size.height = 0.0;
ellipse.size.width = 0.0;
std::vector<std::vector<Point>> all_curves = get_curves(pic, edge, magni, start_x, end_x, start_y, end_y, mean_dist, inner_color_range);
if (all_curves.size() == 1)
{
ellipse = fitEllipse(Mat(all_curves[0]));
if (ellipse.center.x < 0 || ellipse.center.y < 0 || ellipse.center.x > pic->cols || ellipse.center.y > pic->rows)
{
ellipse.center.x = 0;
ellipse.center.y = 0;
ellipse.angle = 0.0;
ellipse.size.height = 0.0;
ellipse.size.width = 0.0;
}
}
else
{
ellipse.center.x = 0;
ellipse.center.y = 0;
ellipse.angle = 0.0;
ellipse.size.height = 0.0;
ellipse.size.width = 0.0;
}
return ellipse;
}
static void filter_edges(Mat *edge, int start_xx, int end_xx, int start_yy, int end_yy)
{
int start_x = start_xx + 5;
int end_x = end_xx - 5;
int start_y = start_yy + 5;
int end_y = end_yy - 5;
if (start_x < 5)
start_x = 5;
if (end_x > edge->cols - 5)
end_x = edge->cols - 5;
if (start_y < 5)
start_y = 5;
if (end_y > edge->rows - 5)
end_y = edge->rows - 5;
for (int j = start_y; j < end_y; j++)
for (int i = start_x; i < end_x; i++)
{
int box[9];
box[4] = (int)edge->data[(edge->cols * (j)) + (i)];
if (box[4])
{
box[1] = (int)edge->data[(edge->cols * (j - 1)) + (i)];
box[3] = (int)edge->data[(edge->cols * (j)) + (i - 1)];
box[5] = (int)edge->data[(edge->cols * (j)) + (i + 1)];
box[7] = (int)edge->data[(edge->cols * (j + 1)) + (i)];
if ((box[5] && box[7]))
edge->data[(edge->cols * (j)) + (i)] = 0;
if ((box[5] && box[1]))
edge->data[(edge->cols * (j)) + (i)] = 0;
if ((box[3] && box[7]))
edge->data[(edge->cols * (j)) + (i)] = 0;
if ((box[3] && box[1]))
edge->data[(edge->cols * (j)) + (i)] = 0;
}
}
//too many neigbours
for (int j = start_y; j < end_y; j++)
for (int i = start_x; i < end_x; i++)
{
int neig = 0;
for (int k1 = -1; k1 < 2; k1++)
for (int k2 = -1; k2 < 2; k2++)
{
if (edge->data[(edge->cols * (j + k1)) + (i + k2)] > 0)
neig++;
}
if (neig > 3)
edge->data[(edge->cols * (j)) + (i)] = 0;
}
for (int j = start_y; j < end_y; j++)
for (int i = start_x; i < end_x; i++)
{
int box[17];
box[4] = (int)edge->data[(edge->cols * (j)) + (i)];
if (box[4])
{
box[0] = (int)edge->data[(edge->cols * (j - 1)) + (i - 1)];
box[1] = (int)edge->data[(edge->cols * (j - 1)) + (i)];
box[2] = (int)edge->data[(edge->cols * (j - 1)) + (i + 1)];
box[3] = (int)edge->data[(edge->cols * (j)) + (i - 1)];
box[5] = (int)edge->data[(edge->cols * (j)) + (i + 1)];
box[6] = (int)edge->data[(edge->cols * (j + 1)) + (i - 1)];
box[7] = (int)edge->data[(edge->cols * (j + 1)) + (i)];
box[8] = (int)edge->data[(edge->cols * (j + 1)) + (i + 1)];
//external
box[9] = (int)edge->data[(edge->cols * (j)) + (i + 2)];
box[10] = (int)edge->data[(edge->cols * (j + 2)) + (i)];
box[11] = (int)edge->data[(edge->cols * (j)) + (i + 3)];
box[12] = (int)edge->data[(edge->cols * (j - 1)) + (i + 2)];
box[13] = (int)edge->data[(edge->cols * (j + 1)) + (i + 2)];
box[14] = (int)edge->data[(edge->cols * (j + 3)) + (i)];
box[15] = (int)edge->data[(edge->cols * (j + 2)) + (i - 1)];
box[16] = (int)edge->data[(edge->cols * (j + 2)) + (i + 1)];
if ((box[10] && !box[7]) && (box[8] || box[6]))
{
edge->data[(edge->cols * (j + 1)) + (i - 1)] = 0;
edge->data[(edge->cols * (j + 1)) + (i + 1)] = 0;
edge->data[(edge->cols * (j + 1)) + (i)] = 255;
}
if ((box[14] && !box[7] && !box[10]) && ((box[8] || box[6]) && (box[16] || box[15])))
{
edge->data[(edge->cols * (j + 1)) + (i + 1)] = 0;
edge->data[(edge->cols * (j + 1)) + (i - 1)] = 0;
edge->data[(edge->cols * (j + 2)) + (i + 1)] = 0;
edge->data[(edge->cols * (j + 2)) + (i - 1)] = 0;
edge->data[(edge->cols * (j + 1)) + (i)] = 255;
edge->data[(edge->cols * (j + 2)) + (i)] = 255;
}
if ((box[9] && !box[5]) && (box[8] || box[2]))
{
edge->data[(edge->cols * (j + 1)) + (i + 1)] = 0;
edge->data[(edge->cols * (j - 1)) + (i + 1)] = 0;
edge->data[(edge->cols * (j)) + (i + 1)] = 255;
}
if ((box[11] && !box[5] && !box[9]) && ((box[8] || box[2]) && (box[13] || box[12])))
{
edge->data[(edge->cols * (j + 1)) + (i + 1)] = 0;
edge->data[(edge->cols * (j - 1)) + (i + 1)] = 0;
edge->data[(edge->cols * (j + 1)) + (i + 2)] = 0;
edge->data[(edge->cols * (j - 1)) + (i + 2)] = 0;
edge->data[(edge->cols * (j)) + (i + 1)] = 255;
edge->data[(edge->cols * (j)) + (i + 2)] = 255;
}
}
}
for (int j = start_y; j < end_y; j++)
for (int i = start_x; i < end_x; i++)
{
int box[33];
box[4] = (int)edge->data[(edge->cols * (j)) + (i)];
if (box[4])
{
box[0] = (int)edge->data[(edge->cols * (j - 1)) + (i - 1)];
box[1] = (int)edge->data[(edge->cols * (j - 1)) + (i)];
box[2] = (int)edge->data[(edge->cols * (j - 1)) + (i + 1)];
box[3] = (int)edge->data[(edge->cols * (j)) + (i - 1)];
box[5] = (int)edge->data[(edge->cols * (j)) + (i + 1)];
box[6] = (int)edge->data[(edge->cols * (j + 1)) + (i - 1)];
box[7] = (int)edge->data[(edge->cols * (j + 1)) + (i)];
box[8] = (int)edge->data[(edge->cols * (j + 1)) + (i + 1)];
box[9] = (int)edge->data[(edge->cols * (j - 1)) + (i + 2)];
box[10] = (int)edge->data[(edge->cols * (j - 1)) + (i - 2)];
box[11] = (int)edge->data[(edge->cols * (j + 1)) + (i + 2)];
box[12] = (int)edge->data[(edge->cols * (j + 1)) + (i - 2)];
box[13] = (int)edge->data[(edge->cols * (j - 2)) + (i - 1)];
box[14] = (int)edge->data[(edge->cols * (j - 2)) + (i + 1)];
box[15] = (int)edge->data[(edge->cols * (j + 2)) + (i - 1)];
box[16] = (int)edge->data[(edge->cols * (j + 2)) + (i + 1)];
box[17] = (int)edge->data[(edge->cols * (j - 3)) + (i - 1)];
box[18] = (int)edge->data[(edge->cols * (j - 3)) + (i + 1)];
box[19] = (int)edge->data[(edge->cols * (j + 3)) + (i - 1)];
box[20] = (int)edge->data[(edge->cols * (j + 3)) + (i + 1)];
box[21] = (int)edge->data[(edge->cols * (j + 1)) + (i + 3)];
box[22] = (int)edge->data[(edge->cols * (j + 1)) + (i - 3)];
box[23] = (int)edge->data[(edge->cols * (j - 1)) + (i + 3)];
box[24] = (int)edge->data[(edge->cols * (j - 1)) + (i - 3)];
box[25] = (int)edge->data[(edge->cols * (j - 2)) + (i - 2)];
box[26] = (int)edge->data[(edge->cols * (j + 2)) + (i + 2)];
box[27] = (int)edge->data[(edge->cols * (j - 2)) + (i + 2)];
box[28] = (int)edge->data[(edge->cols * (j + 2)) + (i - 2)];
box[29] = (int)edge->data[(edge->cols * (j - 3)) + (i - 3)];
box[30] = (int)edge->data[(edge->cols * (j + 3)) + (i + 3)];
box[31] = (int)edge->data[(edge->cols * (j - 3)) + (i + 3)];
box[32] = (int)edge->data[(edge->cols * (j + 3)) + (i - 3)];
if (box[7] && box[2] && box[9])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[7] && box[0] && box[10])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[1] && box[8] && box[11])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[1] && box[6] && box[12])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[0] && box[13] && box[17] && box[8] && box[11] && box[21])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[2] && box[14] && box[18] && box[6] && box[12] && box[22])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[6] && box[15] && box[19] && box[2] && box[9] && box[23])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[8] && box[16] && box[20] && box[0] && box[10] && box[24])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[0] && box[25] && box[2] && box[27])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[0] && box[25] && box[6] && box[28])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[8] && box[26] && box[2] && box[27])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box[8] && box[26] && box[6] && box[28])
edge->data[(edge->cols * (j)) + (i)] = 0;
int box2[18];
box2[1] = (int)edge->data[(edge->cols * (j)) + (i - 1)];
box2[2] = (int)edge->data[(edge->cols * (j - 1)) + (i - 2)];
box2[3] = (int)edge->data[(edge->cols * (j - 2)) + (i - 3)];
box2[4] = (int)edge->data[(edge->cols * (j - 1)) + (i + 1)];
box2[5] = (int)edge->data[(edge->cols * (j - 2)) + (i + 2)];
box2[6] = (int)edge->data[(edge->cols * (j + 1)) + (i - 2)];
box2[7] = (int)edge->data[(edge->cols * (j + 2)) + (i - 3)];
box2[8] = (int)edge->data[(edge->cols * (j + 1)) + (i + 1)];
box2[9] = (int)edge->data[(edge->cols * (j + 2)) + (i + 2)];
box2[10] = (int)edge->data[(edge->cols * (j + 1)) + (i)];
box2[15] = (int)edge->data[(edge->cols * (j - 1)) + (i - 1)];
box2[16] = (int)edge->data[(edge->cols * (j - 2)) + (i - 2)];
box2[11] = (int)edge->data[(edge->cols * (j + 2)) + (i + 1)];
box2[12] = (int)edge->data[(edge->cols * (j + 3)) + (i + 2)];
box2[13] = (int)edge->data[(edge->cols * (j + 2)) + (i - 1)];
box2[14] = (int)edge->data[(edge->cols * (j + 3)) + (i - 2)];
if (box2[1] && box2[2] && box2[3] && box2[4] && box2[5])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box2[1] && box2[6] && box2[7] && box2[8] && box2[9])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box2[10] && box2[11] && box2[12] && box2[4] && box2[5])
edge->data[(edge->cols * (j)) + (i)] = 0;
if (box2[10] && box2[13] && box2[14] && box2[15] && box2[16])
edge->data[(edge->cols * (j)) + (i)] = 0;
}
}
}
static void bwselect(Mat *strong, Mat *weak, Mat *check)
{
int pic_x = strong->cols;
int pic_y = strong->rows;
int lines[MAX_LINE];
int lines_idx = 0;
int idx = 0;
for (int i = 1; i < pic_y - 1; i++)
{
for (int j = 1; j < pic_x - 1; j++)
{
if (strong->data[idx + j] != 0 && check->data[idx + j] == 0)
{
check->data[idx + j] = 255;
lines_idx = 1;
lines[0] = idx + j;
int akt_idx = 0;
while (akt_idx < lines_idx && lines_idx < MAX_LINE - 1)
{
int akt_pos = lines[akt_idx];
if (akt_pos - pic_x - 1 >= 0 && akt_pos + pic_x + 1 < pic_x * pic_y)
{
for (int k1 = -1; k1 < 2; k1++)
{
for (int k2 = -1; k2 < 2; k2++)
{
if (check->data[(akt_pos + (k1 * pic_x)) + k2] == 0 && weak->data[(akt_pos + (k1 * pic_x)) + k2] != 0)
{
check->data[(akt_pos + (k1 * pic_x)) + k2] = 255;
lines_idx++;
lines[lines_idx - 1] = (akt_pos + (k1 * pic_x)) + k2;
}
}
}
}
akt_idx++;
}
}
}
idx += pic_x;
}
}
static Mat cbwselect(const Mat &strong, const Mat &weak)
{
int pic_x = strong.cols;
int pic_y = strong.rows;
Mat check = Mat::zeros(pic_y, pic_x, CV_8U);
int lines[MAX_LINE] = {0};
int lines_idx = 0;
int idx = 0;
for (int i = 1; i < pic_y - 1; i++)
{
for (int j = 1; j < pic_x - 1; j++)
{
if (strong.at<uchar>(idx + j) != 0 && check.at<uchar>(idx + j) == 0)
{
check.at<uchar>(idx + j) = 255;
lines_idx = 1;
lines[0] = idx + j;
int akt_idx = 0;
while (akt_idx < lines_idx && lines_idx < MAX_LINE)
{
int akt_pos = lines[akt_idx];
if (akt_pos - pic_x - 1 >= 0 && akt_pos + pic_x + 1 < pic_x * pic_y)
{
for (int k1 = -1; k1 < 2; k1++)
{
for (int k2 = -1; k2 < 2; k2++)
{
if (check.at<uchar>((akt_pos + (k1 * pic_x)) + k2) == 0 && weak.at<uchar>((akt_pos + (k1 * pic_x)) + k2) != 0)
{
check.at<uchar>((akt_pos + (k1 * pic_x)) + k2) = 255;
// ML 18.11.20: fixed array boundary access for lines array
if (lines_idx < MAX_LINE)
{
lines[lines_idx] = (akt_pos + (k1 * pic_x)) + k2;
lines_idx++;
}
}
}
}
}
akt_idx++;
}
}
}
idx += pic_x;
}
return check;
}
static Mat canny_impl(Mat *pic, Mat *magni)
{
int k_sz = 16;
float gau[16] = {0.000000220358050f, 0.000007297256405f, 0.000146569312970f, 0.001785579770079f,
0.013193749090229f, 0.059130281094460f, 0.160732768610747f, 0.265003534507060f, 0.265003534507060f,
0.160732768610747f, 0.059130281094460f, 0.013193749090229f, 0.001785579770079f, 0.000146569312970f,
0.000007297256405f, 0.000000220358050f};
float deriv_gau[16] = {-0.000026704586264f, -0.000276122963398f, -0.003355163265098f, -0.024616683775044f, -0.108194751875585f,
-0.278368310241814f, -0.388430056419619f, -0.196732206873178f, 0.196732206873178f, 0.388430056419619f,
0.278368310241814f, 0.108194751875585f, 0.024616683775044f, 0.003355163265098f, 0.000276122963398f, 0.000026704586264f};
Point anchor = Point(-1, -1);
float delta = 0;
int ddepth = -1;
pic->convertTo(*pic, CV_32FC1);
Mat gau_x = Mat(1, k_sz, CV_32FC1, &gau);
Mat deriv_gau_x = Mat(1, k_sz, CV_32FC1, &deriv_gau);
Mat res_x;
Mat res_y;
transpose(*pic, *pic);
filter2D(*pic, res_x, ddepth, gau_x, anchor, delta, BORDER_REPLICATE);
transpose(*pic, *pic);
transpose(res_x, res_x);
filter2D(res_x, res_x, ddepth, deriv_gau_x, anchor, delta, BORDER_REPLICATE);
filter2D(*pic, res_y, ddepth, gau_x, anchor, delta, BORDER_REPLICATE);
transpose(res_y, res_y);
filter2D(res_y, res_y, ddepth, deriv_gau_x, anchor, delta, BORDER_REPLICATE);
transpose(res_y, res_y);
*magni = Mat::zeros(pic->rows, pic->cols, CV_32FC1);
float *p_res, *p_x, *p_y;
for (int i = 0; i < magni->rows; i++)
{
p_res = magni->ptr<float>(i);
p_x = res_x.ptr<float>(i);
p_y = res_y.ptr<float>(i);
for (int j = 0; j < magni->cols; j++)
{
//res.at<float>(j, i)= sqrt( (res_x.at<float>(j, i)*res_x.at<float>(j, i)) + (res_y.at<float>(j, i)*res_y.at<float>(j, i)) );
//res.at<float>(j, i)=robust_pytagoras_after_MOLAR_MORRIS(res_x.at<float>(j, i), res_y.at<float>(j, i));
//res.at<float>(j, i)=hypot(res_x.at<float>(j, i), res_y.at<float>(j, i));
//p_res[j]=__ieee754_hypot(p_x[j], p_y[j]);
p_res[j] = hypot(p_x[j], p_y[j]);
}
}
//th selection
int PercentOfPixelsNotEdges = (int)round(0.7 * magni->cols * magni->rows);
float ThresholdRatio = 0.4f;
float high_th = 0;
float low_th = 0;
int h_sz = 64;
int hist[64];
for (int i = 0; i < h_sz; i++)
hist[i] = 0;
normalize(*magni, *magni, 0, 1, NORM_MINMAX, CV_32FC1);
Mat res_idx = Mat::zeros(pic->rows, pic->cols, CV_8U);
normalize(*magni, res_idx, 0, 63, NORM_MINMAX, CV_32S);
int *p_res_idx = 0;
for (int i = 0; i < magni->rows; i++)
{
p_res_idx = res_idx.ptr<int>(i);
for (int j = 0; j < magni->cols; j++)
{
hist[p_res_idx[j]]++;
}
}
int sum = 0;
for (int i = 0; i < h_sz; i++)
{
sum += hist[i];
if (sum > PercentOfPixelsNotEdges)
{
high_th = float(i + 1) / float(h_sz);
break;
}
}
low_th = ThresholdRatio * high_th;
//non maximum supression + interpolation
Mat non_ms = Mat::zeros(pic->rows, pic->cols, CV_8U);
Mat non_ms_hth = Mat::zeros(pic->rows, pic->cols, CV_8U);
float ix, iy, grad1, grad2, d;
char *p_non_ms, *p_non_ms_hth;
float *p_res_t, *p_res_b;
for (int i = 1; i < magni->rows - 1; i++)
{
p_non_ms = non_ms.ptr<char>(i);
p_non_ms_hth = non_ms_hth.ptr<char>(i);
p_res = magni->ptr<float>(i);
p_res_t = magni->ptr<float>(i - 1);
p_res_b = magni->ptr<float>(i + 1);
p_x = res_x.ptr<float>(i);
p_y = res_y.ptr<float>(i);
for (int j = 1; j < magni->cols - 1; j++)
{
iy = p_y[j];
ix = p_x[j];
if ((iy <= 0 && ix > -iy) || (iy >= 0 && ix < -iy))
{
d = abs(iy / ix);
grad1 = (p_res[j + 1] * (1 - d)) + (p_res_t[j + 1] * d);
grad2 = (p_res[j - 1] * (1 - d)) + (p_res_b[j - 1] * d);
if (p_res[j] >= grad1 && p_res[j] >= grad2)
{
p_non_ms[j] = (char)255;
if (p_res[j] > high_th)
p_non_ms_hth[j] = (char)255;
}
}
if ((ix > 0 && -iy >= ix) || (ix < 0 && -iy <= ix))
{
d = abs(ix / iy);
grad1 = (p_res_t[j] * (1 - d)) + (p_res_t[j + 1] * d);
grad2 = (p_res_b[j] * (1 - d)) + (p_res_b[j - 1] * d);
if (p_res[j] >= grad1 && p_res[j] >= grad2)
{
p_non_ms[j] = (char)255;
if (p_res[j] > high_th)
p_non_ms_hth[j] = (char)255;
}
}
if ((ix <= 0 && ix > iy) || (ix >= 0 && ix < iy))
{
d = abs(ix / iy);
grad1 = (p_res_t[j] * (1 - d)) + (p_res_t[j - 1] * d);
grad2 = (p_res_b[j] * (1 - d)) + (p_res_b[j + 1] * d);
if (p_res[j] >= grad1 && p_res[j] >= grad2)
{
p_non_ms[j] = (char)255;
if (p_res[j] > high_th)
p_non_ms_hth[j] = (char)255;
}
}
if ((iy < 0 && ix <= iy) || (iy > 0 && ix >= iy))
{
d = abs(iy / ix);
grad1 = (p_res[j - 1] * (1 - d)) + (p_res_t[j - 1] * d);
grad2 = (p_res[j + 1] * (1 - d)) + (p_res_b[j + 1] * d);
if (p_res[j] >= grad1 && p_res[j] >= grad2)
{
p_non_ms[j] = (char)255;
if (p_res[j] > high_th)
p_non_ms_hth[j] = (char)255;
}
}
}
}
////bw select
//Mat res_lin = Mat::zeros(pic->rows, pic->cols, CV_8U);
//bwselect(&non_ms_hth, &non_ms, &res_lin);
Mat res_lin = cbwselect(non_ms_hth, non_ms);
//res_lin.convertTo(res_lin, CV_8U);
return res_lin;
}
static void mum(Mat *pic, Mat *result, int fak)
{
int fak_ges = fak + 1;
int sz_x = pic->cols / fak_ges;
int sz_y = pic->rows / fak_ges;
*result = Mat::zeros(sz_y, sz_x, CV_8U);
int hist[256];
int mean = 0;
int cnt = 0;
int mean_2 = 0;
int idx = 0;
int idy = 0;
for (int i = 0; i < sz_y; i++)
{
idy += fak_ges;
for (int j = 0; j < sz_x; j++)
{
idx += fak_ges;
for (int k = 0; k < 256; k++)
hist[k] = 0;
mean = 0;
cnt = 0;
for (int ii = -fak; ii <= fak; ii++)
for (int jj = -fak; jj <= fak; jj++)
{
if (idy + ii > 0 && idy + ii < pic->rows && idx + jj > 0 && idx + jj < pic->cols)
{
if ((unsigned int)pic->data[(pic->cols * (idy + ii)) + (idx + jj)] > 255)
pic->data[(pic->cols * (idy + ii)) + (idx + jj)] = 255;
hist[pic->data[(pic->cols * (idy + ii)) + (idx + jj)]]++;
cnt++;
mean += pic->data[(pic->cols * (idy + ii)) + (idx + jj)];
}
}
mean = mean / cnt;
mean_2 = 0;
cnt = 0;
for (int ii = 0; ii <= mean; ii++)
{
mean_2 += ii * hist[ii];
cnt += hist[ii];
}
if (cnt == 0)
mean_2 = mean;
else
mean_2 = mean_2 / cnt;
result->data[(sz_x * (i)) + (j)] = mean_2;
}
idx = 0;
}
}
static void gen_blob_neu(int rad, Mat *all_mat, Mat *all_mat_neg)
{
int len = 1 + (4 * rad);
int c0 = rad * 2;
float negis = 0;
float posis = 0;
*all_mat = Mat::zeros(len, len, CV_32FC1);
*all_mat_neg = Mat::zeros(len, len, CV_32FC1);
float *p, *p_neg;
for (int i = -rad * 2; i <= rad * 2; i++)
{ //height
p = all_mat->ptr<float>(c0 + i);
for (int j = -rad * 2; j <= rad * 2; j++)
{
if (i < -rad || i > rad)
{ //pos
p[c0 + j] = 1;
posis++;
}
else
{ //neg
int sz_w = (int)sqrt(float(rad * rad) - float(i * i));
if (abs(j) <= sz_w)
{
p[c0 + j] = -1;
negis++;