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BA4Project/MileStone2/Canny/HoughTransform.pde
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HoughTransform.pde
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void drawLines(ArrayList<PVector> lines, PImage edgeImg) {
for (int idx = 0; idx < lines.size(); idx++) {
PVector line=lines.get(idx);
float r = line.x;
float phi = line.y;
// Cartesian equation of a line: y = ax + b
// in polar, y = (-cos(phi)/sin(phi))x + (r/sin(phi))
// => y = 0 : x = r / cos(phi)
// => x = 0 : y = r / sin(phi)
// compute the intersection of this line with the 4 borders of
// the image
int x0 = 0;
int y0 = (int) (r / sin(phi));
int x1 = (int) (r / cos(phi));
int y1 = 0;
int x2 = edgeImg.width;
int y2 = (int) (-cos(phi) / sin(phi) * x2 + r / sin(phi));
int y3 = edgeImg.width;
int x3 = (int) (-(y3 - r / sin(phi)) * (sin(phi) / cos(phi)));
// Finally, plot the lines
stroke(0, 255, 255);
if (y0 > 0) {
if (x1 > 0)
line(x0, y0, x1, y1);
else if (y2 > 0)
line(x0, y0, x2, y2);
else
line(x0, y0, x3, y3);
} else {
if (x1 > 0) {
if (y2 > 0)
line(x1, y1, x2, y2);
else
line(x1, y1, x3, y3);
} else
line(x2, y2, x3, y3);
}
}
}
int minVotes=50;
ArrayList<PVector> hough(PImage edgeImg, int nLines) {
float discretizationStepsPhi = 0.06f;
float discretizationStepsR = 2.5f;
ArrayList<Integer> bestCandidates=new ArrayList<Integer>();
// dimensions of the accumulator
int phiDim = (int) (Math.PI / discretizationStepsPhi +1);
//The max radius is the image diagonal, but it can be also negative
int rDim = (int) ((sqrt(edgeImg.width*edgeImg.width +
edgeImg.height*edgeImg.height) * 2) / discretizationStepsR +1);
// our accumulator
int[] accumulator = new int[phiDim * rDim];
// Fill the accumulator: on edge points (ie, white pixels of the edge
// image), store all possible (r, phi) pairs describing lines going
// through the point.
// pre-compute the sin and cos values
float[] tabSin = new float[phiDim];
float[] tabCos = new float[phiDim];
float ang = 0;
float inverseR = 1.f / discretizationStepsR;
for (int accPhi = 0; accPhi < phiDim; ang += discretizationStepsPhi, accPhi++) {
// we can also pre-multiply by (1/discretizationStepsR) since we need it in the Hough loop
tabSin[accPhi] = (float) (Math.sin(ang) * inverseR);
tabCos[accPhi] = (float) (Math.cos(ang) * inverseR);
}
for (int y = 0; y < edgeImg.height; y++) {
for (int x = 0; x < edgeImg.width; x++) {
// Are we on an edge?
if (brightness(edgeImg.pixels[y * edgeImg.width + x]) != 0) {
// ...determine here all the lines (r, phi) passing through
// pixel (x,y), convert (r,phi) to coordinates in the
// accumulator, and increment accordingly the accumulator.
// Be careful: r may be negative, so you may want to center onto
// the accumulator: r += rDim / 2
for (int phi=0; phi<phiDim; ++phi) {
int accR=Math.round((x*tabCos[phi]+y*tabSin[phi])+rDim/2);
++accumulator[phi*rDim+accR];
}
}
}
}
//display Hough image
/*PImage houghImg = createImage(rDim, phiDim, ALPHA);
for (int i = 0; i < accumulator.length; i++) {
houghImg.pixels[i] = color(min(255, accumulator[i]));
}
// You may want to resize the accumulator to make it easier to see:
houghImg.resize(400, 400);
houghImg.updatePixels();
image(houghImg,0,0);*/
int REGION_SIZE=10;
for (int idx = 0; idx < accumulator.length; idx++) {
if (accumulator[idx] > minVotes && isMaxOverArea(accumulator, idx, REGION_SIZE, phiDim, rDim)) {
bestCandidates.add(idx);
}
}
bestCandidates.sort(new HoughComparator(accumulator));
ArrayList<PVector> lines=new ArrayList<PVector>();
for (int i=0; i<bestCandidates.size() && i<nLines; ++i) {
int idx=bestCandidates.get(i);
// first, compute back the (r, phi) polar coordinates:
int accPhi = (int) (idx / (rDim));
int accR = idx - (accPhi) * (rDim);
float r = (accR - (rDim) * 0.5f) * discretizationStepsR;
float phi = accPhi * discretizationStepsPhi;
lines.add(new PVector(r, phi));
}
return lines;
}
private boolean isMaxOverArea(int[] accumulator, int idx, int REGION_SIZE, int phiDim, int rDim) {
int threshold=accumulator[idx];
for (int dx=Math.max(0, idx%rDim-REGION_SIZE); dx<Math.min(rDim, idx%rDim+REGION_SIZE); ++dx) {
for (int dy=Math.max(0, idx/rDim-REGION_SIZE); dy<Math.min(phiDim, idx/rDim+REGION_SIZE); ++dy) {
if (accumulator[dx+dy*rDim]>threshold) {
return false;
}
}
}
return true;
}
class HoughComparator implements java.util.Comparator<Integer> {
int[] accumulator;
public HoughComparator(int[] accumulator) {
this.accumulator = accumulator;
}
@Override
public int compare(Integer l1, Integer l2) {
if (accumulator[l1] > accumulator[l2]
|| (accumulator[l1] == accumulator[l2] && l1 < l2)) return -1;
return 1;
}
}
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