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137 lines
2.6 KiB
C++
137 lines
2.6 KiB
C++
#include "circle_detect.h"
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void mysobel(rgb_img_t &src, rgb_img_t &dst, int dir)
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{
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int const rows = MAX_HEIGHT;
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int const cols = MAX_WIDTH;
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rgb_img_t img0(rows, cols);
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if (dir)
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{
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hls::Sobel<1,0,3>(src, img0);
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}
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else
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{
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hls::Sobel<0,1,3>(src, img0);
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}
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hls::ConvertScaleAbs(img0, dst);
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}
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void mysobelxy(rgb_img_t &src, rgb_img_t &dst)
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{
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int const rows = MAX_HEIGHT;
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int const cols = MAX_WIDTH;
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rgb_img_t img0(rows, cols);
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rgb_img_t img1(rows, cols);
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rgb_img_t img2(rows, cols);
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rgb_img_t img3(rows, cols);
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hls::Duplicate(src, img0, img1);
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mysobel(img0, img2, 1);
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mysobel(img1, img3, 0);
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hls::AddWeighted(img2, 1, img3, 1, 0, dst);
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}
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void circle(rgb_img_t &src, rgb_img_t &dst){
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int const rows = MAX_HEIGHT;
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int const cols = MAX_WIDTH;
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int const delta = 1;
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int const circles = N_CIRCLE;
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// 1/sqrt(2) pour un rayon aussi grand que le diametre d'image
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int const diag = (rows+cols)*0.5;
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uint16_t rho;
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typedef hls::Mat<diag, 180/delta, HLS_12U> M_M;
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typedef hls::Mat<circles, 2, HLS_16U> M_Max;
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M_M M;
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M_Max Max;
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rgb_pix_t red(255,0,0);
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for(int d=0; d<diag; d++){
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Max<d,0> = 0;
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Max<d,1> = 0;
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}
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rgb_img_t img0(rows, cols);
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hls::CvtColor<HLS_GRAY2RGB>(src, dst);
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for (uint16_t r=0; r<rows; r++){
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for (uint16_t c=0; c<cols; c++){
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if(src(r,c) != 0){
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for (uint16_t t=0; t<180; t+=delta){
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rho = ceil(r*hls::cos(t)+c*hls::sin(t));
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M(rho,t) = M(rho,t) + 1;
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}
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}
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}
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}
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uint8_t m = 0;
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uint16_t threshold = 50;
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uint16_t x0, y0;
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while(m<circles){
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for (uint16_t c=0; c<circles; c++){
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for (uint16_t r=0; r<diag; r++){
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for (uint16_t t=0; t<180; t+=delta){
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if(M(r,t) > threshold){
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m++;
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x0 = ceil(rho * cos(t));
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y0 = ceil(rho * sin(t));
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Max(m,0) = x0 + 1000 * (-sin(t));
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Max(m,1) = y0 + 1000 * (cos(t));
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dst(Max(m,0),Max(m,1)) = red;
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dst(Max(m,0)+1,Max(m,1)) = red;
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dst(Max(m,0),Max(m,1)+1) = red;
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dst(Max(m,0+1),Max(m,1)+1) = red;
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}
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}
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}
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}
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}
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}
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void sobelfoo(stream_t &stream_in, stream_t &stream_out)
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{
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int const rows = MAX_HEIGHT;
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int const cols = MAX_WIDTH;
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rgb_img_t img0(rows, cols);
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rgb_img_t img1(rows, cols);
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rgb_img_t img2(rows, cols);
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rgb_img_t img3(rows, cols);
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rgb_img_t img4(rows, cols);
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hls::AXIvideo2Mat(stream_in, img0);
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hls::CvtColor<HLS_RGB2GRAY>(img0, img1);
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hls::GaussianBlur<5,5>(img1, img2, (double)5, (double)5);
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mysobelxy(img2,img3);
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circle(img3, img4);
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hls::Mat2AXIvideo(img4, stream_out);
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}
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void circle_detect(stream_t &stream_in, stream_t &stream_out)
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{
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int const rows = MAX_HEIGHT;
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int const cols = MAX_WIDTH;
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sobelfoo(stream_in, stream_out);
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}
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