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Merge pull request #9761 from Jazmann:ellipseFitAMS&Direct

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This commit is contained in:
Vadim Pisarevsky
2017-10-06 14:35:42 +00:00
parent 6c6900a6cd 800da724a3
commit d25ee8a273
8 changed files with 1598 additions and 39 deletions
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modules/core/include/opencv2/core/utils/logger.hpp
+2 -1
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@@ -16,6 +16,7 @@
//
//! @{
namespace cv {
namespace utils {
namespace logging {
@@ -77,7 +78,7 @@ enum LogLevel {
#endif
}} // namespace
}}} // namespace
//! @}
modules/imgproc/include/opencv2/imgproc.hpp
+82
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@@ -4066,6 +4066,88 @@ border of the containing Mat element.
*/
CV_EXPORTS_W RotatedRect fitEllipse( InputArray points );
/** @brief Fits an ellipse around a set of 2D points.
The function calculates the ellipse that fits a set of 2D points.
It returns the rotated rectangle in which the ellipse is inscribed.
The Approximate Mean Square (AMS) proposed by @cite Taubin1991 is used.
For an ellipse, this basis set is \f$ \chi= \left(x^2, x y, y^2, x, y, 1\right) \f$,
which is a set of six free coefficients \f$ A^T=\left\{A_{\text{xx}},A_{\text{xy}},A_{\text{yy}},A_x,A_y,A_0\right\} \f$.
However, to specify an ellipse, all that is needed is five numbers; the major and minor axes lengths \f$ (a,b) \f$,
the position \f$ (x_0,y_0) \f$, and the orientation \f$ \theta \f$. This is because the basis set includes lines,
quadratics, parabolic and hyperbolic functions as well as elliptical functions as possible fits.
If the fit is found to be a parabolic or hyperbolic function then the standard fitEllipse method is used.
The AMS method restricts the fit to parabolic, hyperbolic and elliptical curves
by imposing the condition that \f$ A^T ( D_x^T D_x + D_y^T D_y) A = 1 \f$ where
the matrices \f$ Dx \f$ and \f$ Dy \f$ are the partial derivatives of the design matrix \f$ D \f$ with
respect to x and y. The matrices are formed row by row applying the following to
each of the points in the set:
\f{align*}{
D(i,:)&=\left\{x_i^2, x_i y_i, y_i^2, x_i, y_i, 1\right\} &
D_x(i,:)&=\left\{2 x_i,y_i,0,1,0,0\right\} &
D_y(i,:)&=\left\{0,x_i,2 y_i,0,1,0\right\}
\f}
The AMS method minimizes the cost function
\f{equation*}{
\epsilon ^2=\frac{ A^T D^T D A }{ A^T (D_x^T D_x + D_y^T D_y) A^T }
\f}
The minimum cost is found by solving the generalized eigenvalue problem.
\f{equation*}{
D^T D A = \lambda \left( D_x^T D_x + D_y^T D_y\right) A
\f}
@param points Input 2D point set, stored in std::vector\<\> or Mat
*/
CV_EXPORTS_W RotatedRect fitEllipseAMS( InputArray points );
/** @brief Fits an ellipse around a set of 2D points.
The function calculates the ellipse that fits a set of 2D points.
It returns the rotated rectangle in which the ellipse is inscribed.
The Direct least square (Direct) method by @cite Fitzgibbon1999 is used.
For an ellipse, this basis set is \f$ \chi= \left(x^2, x y, y^2, x, y, 1\right) \f$,
which is a set of six free coefficients \f$ A^T=\left\{A_{\text{xx}},A_{\text{xy}},A_{\text{yy}},A_x,A_y,A_0\right\} \f$.
However, to specify an ellipse, all that is needed is five numbers; the major and minor axes lengths \f$ (a,b) \f$,
the position \f$ (x_0,y_0) \f$, and the orientation \f$ \theta \f$. This is because the basis set includes lines,
quadratics, parabolic and hyperbolic functions as well as elliptical functions as possible fits.
The Direct method confines the fit to ellipses by ensuring that \f$ 4 A_{xx} A_{yy}- A_{xy}^2 > 0 \f$.
The condition imposed is that \f$ 4 A_{xx} A_{yy}- A_{xy}^2=1 \f$ which satisfies the inequality
and as the coefficients can be arbitrarily scaled is not overly restrictive.
\f{equation*}{
\epsilon ^2= A^T D^T D A \quad \text{with} \quad A^T C A =1 \quad \text{and} \quad C=\left(\begin{matrix}
0 & 0 & 2 & 0 & 0 & 0 \\
0 & -1 & 0 & 0 & 0 & 0 \\
2 & 0 & 0 & 0 & 0 & 0 \\
0 & 0 & 0 & 0 & 0 & 0 \\
0 & 0 & 0 & 0 & 0 & 0 \\
0 & 0 & 0 & 0 & 0 & 0
\end{matrix} \right)
\f}
The minimum cost is found by solving the generalized eigenvalue problem.
\f{equation*}{
D^T D A = \lambda \left( C\right) A
\f}
The system produces only one positive eigenvalue \f$ \lambda\f$ which is chosen as the solution
with its eigenvector \f$\mathbf{u}\f$. These are used to find the coefficients
\f{equation*}{
A = \sqrt{\frac{1}{\mathbf{u}^T C \mathbf{u}}} \mathbf{u}
\f}
The scaling factor guarantees that \f$A^T C A =1\f$.
@param points Input 2D point set, stored in std::vector\<\> or Mat
*/
CV_EXPORTS_W RotatedRect fitEllipseDirect( InputArray points );
/** @brief Fits a line to a 2D or 3D point set.
The function fitLine fits a line to a 2D or 3D point set by minimizing \f$\sum_i \rho(r_i)\f$ where
modules/imgproc/src/shapedescr.cpp
+323 -2
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@@ -39,7 +39,6 @@
//
//M*/
#include "precomp.hpp"
namespace cv
{
@@ -454,6 +453,329 @@ cv::RotatedRect cv::fitEllipse( InputArray _points )
return box;
}
cv::RotatedRect cv::fitEllipseAMS( InputArray _points )
{
Mat points = _points.getMat();
int i, n = points.checkVector(2);
int depth = points.depth();
CV_Assert( n >= 0 && (depth == CV_32F || depth == CV_32S));
RotatedRect box;
if( n < 5 )
CV_Error( CV_StsBadSize, "There should be at least 5 points to fit the ellipse" );
Point2f c(0,0);
bool is_float = depth == CV_32F;
const Point* ptsi = points.ptr<Point>();
const Point2f* ptsf = points.ptr<Point2f>();
Mat A( n, 6, CV_64F);
Matx<double, 6, 6> DM;
Matx<double, 5, 5> M;
Matx<double, 5, 1> pVec;
Matx<double, 6, 1> coeffs;
double x0, y0, a, b, theta;
for( i = 0; i < n; i++ )
{
Point2f p = is_float ? ptsf[i] : Point2f((float)ptsi[i].x, (float)ptsi[i].y);
c += p;
}
c.x /= (float)n;
c.y /= (float)n;
for( i = 0; i < n; i++ )
{
Point2f p = is_float ? ptsf[i] : Point2f((float)ptsi[i].x, (float)ptsi[i].y);
p -= c;
A.at<double>(i,0) = (double)(p.x)*(p.x);
A.at<double>(i,1) = (double)(p.x)*(p.y);
A.at<double>(i,2) = (double)(p.y)*(p.y);
A.at<double>(i,3) = (double)p.x;
A.at<double>(i,4) = (double)p.y;
A.at<double>(i,5) = 1.0;
}
cv::mulTransposed( A, DM, true, noArray(), 1.0, -1 );
DM *= (1.0/n);
double dnm = ( DM(2,5)*(DM(0,5) + DM(2,5)) - (DM(1,5)*DM(1,5)) );
double ddm = (4.*(DM(0,5) + DM(2,5))*( (DM(0,5)*DM(2,5)) - (DM(1,5)*DM(1,5))));
double ddmm = (2.*(DM(0,5) + DM(2,5))*( (DM(0,5)*DM(2,5)) - (DM(1,5)*DM(1,5))));
M(0,0)=((-DM(0,0) + DM(0,2) + DM(0,5)*DM(0,5))*(DM(1,5)*DM(1,5)) + (-2*DM(0,1)*DM(1,5) + DM(0,5)*(DM(0,0) \
- (DM(0,5)*DM(0,5)) + (DM(1,5)*DM(1,5))))*DM(2,5) + (DM(0,0) - (DM(0,5)*DM(0,5)))*(DM(2,5)*DM(2,5))) / ddm;
M(0,1)=((DM(1,5)*DM(1,5))*(-DM(0,1) + DM(1,2) + DM(0,5)*DM(1,5)) + (DM(0,1)*DM(0,5) - ((DM(0,5)*DM(0,5)) + 2*DM(1,1))*DM(1,5) + \
(DM(1,5)*DM(1,5)*DM(1,5)))*DM(2,5) + (DM(0,1) - DM(0,5)*DM(1,5))*(DM(2,5)*DM(2,5))) / ddm;
M(0,2)=(-2*DM(1,2)*DM(1,5)*DM(2,5) - DM(0,5)*(DM(2,5)*DM(2,5))*(DM(0,5) + DM(2,5)) + DM(0,2)*dnm + \
(DM(1,5)*DM(1,5))*(DM(2,2) + DM(2,5)*(DM(0,5) + DM(2,5))))/ddm;
M(0,3)=(DM(1,5)*(DM(1,5)*DM(2,3) - 2*DM(1,3)*DM(2,5)) + DM(0,3)*dnm) / ddm;
M(0,4)=(DM(1,5)*(DM(1,5)*DM(2,4) - 2*DM(1,4)*DM(2,5)) + DM(0,4)*dnm) / ddm;
M(1,0)=(-(DM(0,2)*DM(0,5)*DM(1,5)) + (2*DM(0,1)*DM(0,5) - DM(0,0)*DM(1,5))*DM(2,5))/ddmm;
M(1,1)=(-(DM(0,1)*DM(1,5)*DM(2,5)) + DM(0,5)*(-(DM(1,2)*DM(1,5)) + 2*DM(1,1)*DM(2,5)))/ddmm;
M(1,2)=(-(DM(0,2)*DM(1,5)*DM(2,5)) + DM(0,5)*(-(DM(1,5)*DM(2,2)) + 2*DM(1,2)*DM(2,5)))/ddmm;
M(1,3)=(-(DM(0,3)*DM(1,5)*DM(2,5)) + DM(0,5)*(-(DM(1,5)*DM(2,3)) + 2*DM(1,3)*DM(2,5)))/ddmm;
M(1,4)=(-(DM(0,4)*DM(1,5)*DM(2,5)) + DM(0,5)*(-(DM(1,5)*DM(2,4)) + 2*DM(1,4)*DM(2,5)))/ddmm;
M(2,0)=(-2*DM(0,1)*DM(0,5)*DM(1,5) + (DM(0,0) + (DM(0,5)*DM(0,5)))*(DM(1,5)*DM(1,5)) + DM(0,5)*(-(DM(0,5)*DM(0,5)) \
+ (DM(1,5)*DM(1,5)))*DM(2,5) - (DM(0,5)*DM(0,5))*(DM(2,5)*DM(2,5)) + DM(0,2)*(-(DM(1,5)*DM(1,5)) + DM(0,5)*(DM(0,5) + DM(2,5)))) / ddm;
M(2,1)=((DM(0,5)*DM(0,5))*(DM(1,2) - DM(1,5)*DM(2,5)) + (DM(1,5)*DM(1,5))*(DM(0,1) - DM(1,2) + DM(1,5)*DM(2,5)) \
+ DM(0,5)*(DM(1,2)*DM(2,5) + DM(1,5)*(-2*DM(1,1) + (DM(1,5)*DM(1,5)) - (DM(2,5)*DM(2,5))))) / ddm;
M(2,2)=((DM(0,5)*DM(0,5))*(DM(2,2) - (DM(2,5)*DM(2,5))) + (DM(1,5)*DM(1,5))*(DM(0,2) - DM(2,2) + (DM(2,5)*DM(2,5))) + \
DM(0,5)*(-2*DM(1,2)*DM(1,5) + DM(2,5)*((DM(1,5)*DM(1,5)) + DM(2,2) - (DM(2,5)*DM(2,5))))) / ddm;
M(2,3)=((DM(1,5)*DM(1,5))*(DM(0,3) - DM(2,3)) + (DM(0,5)*DM(0,5))*DM(2,3) + DM(0,5)*(-2*DM(1,3)*DM(1,5) + DM(2,3)*DM(2,5))) / ddm;
M(2,4)=((DM(1,5)*DM(1,5))*(DM(0,4) - DM(2,4)) + (DM(0,5)*DM(0,5))*DM(2,4) + DM(0,5)*(-2*DM(1,4)*DM(1,5) + DM(2,4)*DM(2,5))) / ddm;
M(3,0)=DM(0,3);
M(3,1)=DM(1,3);
M(3,2)=DM(2,3);
M(3,3)=DM(3,3);
M(3,4)=DM(3,4);
M(4,0)=DM(0,4);
M(4,1)=DM(1,4);
M(4,2)=DM(2,4);
M(4,3)=DM(3,4);
M(4,4)=DM(4,4);
if (fabs(cv::determinant(M)) > 1.0e-10) {
Mat eVal, eVec;
eigenNonSymmetric(M, eVal, eVec);
// Select the eigen vector {a,b,c,d,e} which has the lowest eigenvalue
int minpos = 0;
double normi, normEVali, normMinpos, normEValMinpos;
normMinpos = sqrt(eVec.at<double>(minpos,0)*eVec.at<double>(minpos,0) + eVec.at<double>(minpos,1)*eVec.at<double>(minpos,1) + \
eVec.at<double>(minpos,2)*eVec.at<double>(minpos,2) + eVec.at<double>(minpos,3)*eVec.at<double>(minpos,3) + \
eVec.at<double>(minpos,4)*eVec.at<double>(minpos,4) );
normEValMinpos = eVal.at<double>(minpos,0) * normMinpos;
for (i=1; i<5; i++) {
normi = sqrt(eVec.at<double>(i,0)*eVec.at<double>(i,0) + eVec.at<double>(i,1)*eVec.at<double>(i,1) + \
eVec.at<double>(i,2)*eVec.at<double>(i,2) + eVec.at<double>(i,3)*eVec.at<double>(i,3) + \
eVec.at<double>(i,4)*eVec.at<double>(i,4) );
normEVali = eVal.at<double>(i,0) * normi;
if (normEVali < normEValMinpos) {
minpos = i;
normMinpos=normi;
normEValMinpos=normEVali;
}
};
pVec(0) =eVec.at<double>(minpos,0) / normMinpos;
pVec(1) =eVec.at<double>(minpos,1) / normMinpos;
pVec(2) =eVec.at<double>(minpos,2) / normMinpos;
pVec(3) =eVec.at<double>(minpos,3) / normMinpos;
pVec(4) =eVec.at<double>(minpos,4) / normMinpos;
coeffs(0) =pVec(0) ;
coeffs(1) =pVec(1) ;
coeffs(2) =pVec(2) ;
coeffs(3) =pVec(3) ;
coeffs(4) =pVec(4) ;
coeffs(5) =-pVec(0) *DM(0,5)-pVec(1) *DM(1,5)-coeffs(2) *DM(2,5);
// Check that an elliptical solution has been found. AMS sometimes produces Parabolic solutions.
bool is_ellipse = (coeffs(0) < 0 && \
coeffs(2) < (coeffs(1) *coeffs(1) )/(4.*coeffs(0) ) && \
coeffs(5) > (-(coeffs(2) *(coeffs(3) *coeffs(3) )) + coeffs(1) *coeffs(3) *coeffs(4) - coeffs(0) *(coeffs(4) *coeffs(4) )) / \
((coeffs(1) *coeffs(1) ) - 4*coeffs(0) *coeffs(2) )) || \
(coeffs(0) > 0 && \
coeffs(2) > (coeffs(1) *coeffs(1) )/(4.*coeffs(0) ) && \
coeffs(5) < (-(coeffs(2) *(coeffs(3) *coeffs(3) )) + coeffs(1) *coeffs(3) *coeffs(4) - coeffs(0) *(coeffs(4) *coeffs(4) )) / \
( (coeffs(1) *coeffs(1) ) - 4*coeffs(0) *coeffs(2) ));
if (is_ellipse) {
double u1 = pVec(2) *pVec(3) *pVec(3) - pVec(1) *pVec(3) *pVec(4) + pVec(0) *pVec(4) *pVec(4) + pVec(1) *pVec(1) *coeffs(5) ;
double u2 = pVec(0) *pVec(2) *coeffs(5) ;
double l1 = sqrt(pVec(1) *pVec(1) + (pVec(0) - pVec(2) )*(pVec(0) - pVec(2) ));
double l2 = pVec(0) + pVec(2) ;
double l3 = pVec(1) *pVec(1) - 4.0*pVec(0) *pVec(2) ;
double p1 = 2.0*pVec(2) *pVec(3) - pVec(1) *pVec(4) ;
double p2 = 2.0*pVec(0) *pVec(4) -(pVec(1) *pVec(3) );
x0 = p1/l3 + c.x;
y0 = p2/l3 + c.y;
a = sqrt(2)*sqrt((u1 - 4.0*u2)/((l1 - l2)*l3));
b = sqrt(2)*sqrt(-1.0*((u1 - 4.0*u2)/((l1 + l2)*l3)));
if (pVec(1) == 0) {
if (pVec(0) < pVec(2) ) {
theta = 0;
} else {
theta = CV_PI/2.;
}
} else {
theta = CV_PI/2. + 0.5*std::atan2(pVec(1) , (pVec(0) - pVec(2) ));
}
box.center.x = (float)x0; // +c.x;
box.center.y = (float)y0; // +c.y;
box.size.width = (float)(2.0*a);
box.size.height = (float)(2.0*b);
if( box.size.width > box.size.height )
{
float tmp;
CV_SWAP( box.size.width, box.size.height, tmp );
box.angle = (float)(90 + theta*180/CV_PI);
} else {
box.angle = (float)(fmod(theta*180/CV_PI,180.0));
};
} else {
box = cv::fitEllipseDirect( points );
}
} else {
box = cv::fitEllipse( points );
}
return box;
}
cv::RotatedRect cv::fitEllipseDirect( InputArray _points )
{
Mat points = _points.getMat();
int i, n = points.checkVector(2);
int depth = points.depth();
CV_Assert( n >= 0 && (depth == CV_32F || depth == CV_32S));
RotatedRect box;
if( n < 5 )
CV_Error( CV_StsBadSize, "There should be at least 5 points to fit the ellipse" );
Point2f c(0,0);
bool is_float = (depth == CV_32F);
const Point* ptsi = points.ptr<Point>();
const Point2f* ptsf = points.ptr<Point2f>();
Mat A( n, 6, CV_64F);
Matx<double, 6, 6> DM;
Matx33d M, TM, Q;
Matx<double, 3, 1> pVec;
double x0, y0, a, b, theta, Ts;
for( i = 0; i < n; i++ )
{
Point2f p = is_float ? ptsf[i] : Point2f((float)ptsi[i].x, (float)ptsi[i].y);
c += p;
}
c.x /= (float)n;
c.y /= (float)n;
for( i = 0; i < n; i++ )
{
Point2f p = is_float ? ptsf[i] : Point2f((float)ptsi[i].x, (float)ptsi[i].y);
p -= c;
A.at<double>(i,0) = (double)(p.x)*(p.x);
A.at<double>(i,1) = (double)(p.x)*(p.y);
A.at<double>(i,2) = (double)(p.y)*(p.y);
A.at<double>(i,3) = (double)p.x;
A.at<double>(i,4) = (double)p.y;
A.at<double>(i,5) = 1.0;
}
cv::mulTransposed( A, DM, true, noArray(), 1.0, -1 );
DM *= (1.0/n);
TM(0,0) = DM(0,5)*DM(3,5)*DM(4,4) - DM(0,5)*DM(3,4)*DM(4,5) - DM(0,4)*DM(3,5)*DM(5,4) + \
DM(0,3)*DM(4,5)*DM(5,4) + DM(0,4)*DM(3,4)*DM(5,5) - DM(0,3)*DM(4,4)*DM(5,5);
TM(0,1) = DM(1,5)*DM(3,5)*DM(4,4) - DM(1,5)*DM(3,4)*DM(4,5) - DM(1,4)*DM(3,5)*DM(5,4) + \
DM(1,3)*DM(4,5)*DM(5,4) + DM(1,4)*DM(3,4)*DM(5,5) - DM(1,3)*DM(4,4)*DM(5,5);
TM(0,2) = DM(2,5)*DM(3,5)*DM(4,4) - DM(2,5)*DM(3,4)*DM(4,5) - DM(2,4)*DM(3,5)*DM(5,4) + \
DM(2,3)*DM(4,5)*DM(5,4) + DM(2,4)*DM(3,4)*DM(5,5) - DM(2,3)*DM(4,4)*DM(5,5);
TM(1,0) = DM(0,5)*DM(3,3)*DM(4,5) - DM(0,5)*DM(3,5)*DM(4,3) + DM(0,4)*DM(3,5)*DM(5,3) - \
DM(0,3)*DM(4,5)*DM(5,3) - DM(0,4)*DM(3,3)*DM(5,5) + DM(0,3)*DM(4,3)*DM(5,5);
TM(1,1) = DM(1,5)*DM(3,3)*DM(4,5) - DM(1,5)*DM(3,5)*DM(4,3) + DM(1,4)*DM(3,5)*DM(5,3) - \
DM(1,3)*DM(4,5)*DM(5,3) - DM(1,4)*DM(3,3)*DM(5,5) + DM(1,3)*DM(4,3)*DM(5,5);
TM(1,2) = DM(2,5)*DM(3,3)*DM(4,5) - DM(2,5)*DM(3,5)*DM(4,3) + DM(2,4)*DM(3,5)*DM(5,3) - \
DM(2,3)*DM(4,5)*DM(5,3) - DM(2,4)*DM(3,3)*DM(5,5) + DM(2,3)*DM(4,3)*DM(5,5);
TM(2,0) = DM(0,5)*DM(3,4)*DM(4,3) - DM(0,5)*DM(3,3)*DM(4,4) - DM(0,4)*DM(3,4)*DM(5,3) + \
DM(0,3)*DM(4,4)*DM(5,3) + DM(0,4)*DM(3,3)*DM(5,4) - DM(0,3)*DM(4,3)*DM(5,4);
TM(2,1) = DM(1,5)*DM(3,4)*DM(4,3) - DM(1,5)*DM(3,3)*DM(4,4) - DM(1,4)*DM(3,4)*DM(5,3) + \
DM(1,3)*DM(4,4)*DM(5,3) + DM(1,4)*DM(3,3)*DM(5,4) - DM(1,3)*DM(4,3)*DM(5,4);
TM(2,2) = DM(2,5)*DM(3,4)*DM(4,3) - DM(2,5)*DM(3,3)*DM(4,4) - DM(2,4)*DM(3,4)*DM(5,3) + \
DM(2,3)*DM(4,4)*DM(5,3) + DM(2,4)*DM(3,3)*DM(5,4) - DM(2,3)*DM(4,3)*DM(5,4);
Ts=(-(DM(3,5)*DM(4,4)*DM(5,3)) + DM(3,4)*DM(4,5)*DM(5,3) + DM(3,5)*DM(4,3)*DM(5,4) - \
DM(3,3)*DM(4,5)*DM(5,4) - DM(3,4)*DM(4,3)*DM(5,5) + DM(3,3)*DM(4,4)*DM(5,5));
M(0,0) = (DM(2,0) + (DM(2,3)*TM(0,0) + DM(2,4)*TM(1,0) + DM(2,5)*TM(2,0))/Ts)/2.;
M(0,1) = (DM(2,1) + (DM(2,3)*TM(0,1) + DM(2,4)*TM(1,1) + DM(2,5)*TM(2,1))/Ts)/2.;
M(0,2) = (DM(2,2) + (DM(2,3)*TM(0,2) + DM(2,4)*TM(1,2) + DM(2,5)*TM(2,2))/Ts)/2.;
M(1,0) = -DM(1,0) - (DM(1,3)*TM(0,0) + DM(1,4)*TM(1,0) + DM(1,5)*TM(2,0))/Ts;
M(1,1) = -DM(1,1) - (DM(1,3)*TM(0,1) + DM(1,4)*TM(1,1) + DM(1,5)*TM(2,1))/Ts;
M(1,2) = -DM(1,2) - (DM(1,3)*TM(0,2) + DM(1,4)*TM(1,2) + DM(1,5)*TM(2,2))/Ts;
M(2,0) = (DM(0,0) + (DM(0,3)*TM(0,0) + DM(0,4)*TM(1,0) + DM(0,5)*TM(2,0))/Ts)/2.;
M(2,1) = (DM(0,1) + (DM(0,3)*TM(0,1) + DM(0,4)*TM(1,1) + DM(0,5)*TM(2,1))/Ts)/2.;
M(2,2) = (DM(0,2) + (DM(0,3)*TM(0,2) + DM(0,4)*TM(1,2) + DM(0,5)*TM(2,2))/Ts)/2.;
if (fabs(cv::determinant(M)) > 1.0e-10) {
Mat eVal, eVec;
eigenNonSymmetric(M, eVal, eVec);
// Select the eigen vector {a,b,c} which satisfies 4ac-b^2 > 0
double cond[3];
cond[0]=(4.0 * eVec.at<double>(0,0) * eVec.at<double>(0,2) - eVec.at<double>(0,1) * eVec.at<double>(0,1));
cond[1]=(4.0 * eVec.at<double>(1,0) * eVec.at<double>(1,2) - eVec.at<double>(1,1) * eVec.at<double>(1,1));
cond[2]=(4.0 * eVec.at<double>(2,0) * eVec.at<double>(2,2) - eVec.at<double>(2,1) * eVec.at<double>(2,1));
if (cond[0]<cond[1]) {
i = (cond[1]<cond[2]) ? 2 : 1;
} else {
i = (cond[0]<cond[2]) ? 2 : 0;
}
double norm = std::sqrt(eVec.at<double>(i,0)*eVec.at<double>(i,0) + eVec.at<double>(i,1)*eVec.at<double>(i,1) + eVec.at<double>(i,2)*eVec.at<double>(i,2));
if (((eVec.at<double>(i,0)<0.0 ? -1 : 1) * (eVec.at<double>(i,1)<0.0 ? -1 : 1) * (eVec.at<double>(i,2)<0.0 ? -1 : 1)) <= 0.0) {
norm=-1.0*norm;
}
pVec(0) =eVec.at<double>(i,0)/norm; pVec(1) =eVec.at<double>(i,1)/norm;pVec(2) =eVec.at<double>(i,2)/norm;
// Q = (TM . pVec)/Ts;
Q(0,0) = (TM(0,0)*pVec(0) +TM(0,1)*pVec(1) +TM(0,2)*pVec(2) )/Ts;
Q(0,1) = (TM(1,0)*pVec(0) +TM(1,1)*pVec(1) +TM(1,2)*pVec(2) )/Ts;
Q(0,2) = (TM(2,0)*pVec(0) +TM(2,1)*pVec(1) +TM(2,2)*pVec(2) )/Ts;
// We compute the ellipse properties in the shifted coordinates as doing so improves the numerical accuracy.
double u1 = pVec(2)*Q(0,0)*Q(0,0) - pVec(1)*Q(0,0)*Q(0,1) + pVec(0)*Q(0,1)*Q(0,1) + pVec(1)*pVec(1)*Q(0,2);
double u2 = pVec(0)*pVec(2)*Q(0,2);
double l1 = sqrt(pVec(1)*pVec(1) + (pVec(0) - pVec(2))*(pVec(0) - pVec(2)));
double l2 = pVec(0) + pVec(2) ;
double l3 = pVec(1)*pVec(1) - 4*pVec(0)*pVec(2) ;
double p1 = 2*pVec(2)*Q(0,0) - pVec(1)*Q(0,1);
double p2 = 2*pVec(0)*Q(0,1) - pVec(1)*Q(0,0);
x0 = p1/l3 + c.x;
y0 = p2/l3 + c.y;
a = sqrt(2)*sqrt((u1 - 4.0*u2)/((l1 - l2)*l3));
b = sqrt(2)*sqrt(-1.0*((u1 - 4.0*u2)/((l1 + l2)*l3)));
if (pVec(1) == 0) {
if (pVec(0) < pVec(2) ) {
theta = 0;
} else {
theta = CV_PI/2.;
}
} else {
theta = CV_PI/2. + 0.5*std::atan2(pVec(1) , (pVec(0) - pVec(2) ));
}
box.center.x = (float)x0;
box.center.y = (float)y0;
box.size.width = (float)(2.0*a);
box.size.height = (float)(2.0*b);
if( box.size.width > box.size.height )
{
float tmp;
CV_SWAP( box.size.width, box.size.height, tmp );
box.angle = (float)(fmod((90 + theta*180/CV_PI),180.0)) ;
} else {
box.angle = (float)(fmod(theta*180/CV_PI,180.0));
};
} else {
box = cv::fitEllipse( points );
}
return box;
}
namespace cv
{
@@ -1080,5 +1402,4 @@ cvBoundingRect( CvArr* array, int update )
return rect;
}
/* End of file. */
modules/imgproc/test/test_fitellipseAMS.cpp
+441
View File
@@ -0,0 +1,441 @@
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
//
// Copyright (C) 2016, Itseez, Inc, all rights reserved.
#include "test_precomp.hpp"
#include <vector>
#include <cmath>
using namespace cv;
using namespace std;
TEST(Imgproc_FitEllipseAMS_Issue_1, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(173.41854895999165f, 125.84473135880411f));
pts.push_back(Point2f(180.63769498640912f, 130.960006577589f));
pts.push_back(Point2f(174.99173759130173f, 137.34265632926764f));
pts.push_back(Point2f(170.9044645313217f, 141.68017556480243f));
pts.push_back(Point2f(163.48965388499656f, 141.9404438924043f));
pts.push_back(Point2f(159.37687818401147f, 148.60835331594876f));
pts.push_back(Point2f(150.38917629356735f, 155.68825577720446f));
pts.push_back(Point2f(147.16319653316862f, 157.06039984963923f));
pts.push_back(Point2f(141.73118707843207f, 157.2570155198414f));
pts.push_back(Point2f(130.61569602948597f, 159.40742182929364f));
pts.push_back(Point2f(127.00573042229027f, 161.34430232187867f));
pts.push_back(Point2f(120.49383815053747f, 163.72610883128334f));
pts.push_back(Point2f(114.62383760040998f, 162.6788666385239f));
pts.push_back(Point2f(108.84871269183333f, 161.90597054388132f));
pts.push_back(Point2f(103.04574087829076f, 167.44352944383985f));
pts.push_back(Point2f(96.31623870161255f, 163.71641295746116f));
pts.push_back(Point2f(89.86174417295126f, 157.2967811253635f));
pts.push_back(Point2f(84.27940674801192f, 168.6331304010667f));
pts.push_back(Point2f(76.61995117937661f, 159.4445412678832f));
pts.push_back(Point2f(72.22526316142418f, 154.60770776728293f));
pts.push_back(Point2f(64.97742405067658f, 152.3687174339018f));
pts.push_back(Point2f(58.34612797237003f, 155.61116802371583f));
pts.push_back(Point2f(55.59089117268539f, 148.56245696566418f));
pts.push_back(Point2f(45.22711195983706f, 145.6713241271927f));
pts.push_back(Point2f(40.090542298840234f, 142.36141304004002f));
pts.push_back(Point2f(31.788996807277414f, 136.26164877915585f));
pts.push_back(Point2f(27.27613006088805f, 137.46860042141503f));
pts.push_back(Point2f(23.972392188502226f, 129.17993872328594f));
pts.push_back(Point2f(20.688046711616977f, 121.52750840733087f));
pts.push_back(Point2f(14.635115184257643f, 115.36942800110485f));
pts.push_back(Point2f(14.850919318756809f, 109.43609786936987f));
pts.push_back(Point2f(7.476847697758103f, 102.67657265589285f));
pts.push_back(Point2f(1.8896944088091914f, 95.78878215565676f));
pts.push_back(Point2f(1.731997022935417f, 88.17674033990495f));
pts.push_back(Point2f(1.6780841363402033f, 80.65581939883002f));
pts.push_back(Point2f(0.035330281415411946f, 73.1088693846768f));
pts.push_back(Point2f(0.14652518786238033f, 65.42769523404296f));
pts.push_back(Point2f(6.99914645302843f, 58.436451064804245f));
pts.push_back(Point2f(6.719616410428614f, 50.15263031354927f));
pts.push_back(Point2f(5.122267598477748f, 46.03603214691343f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(94.4037f, 84.743f), Size2f(190.614f, 153.543f), 19.832f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
TEST(Imgproc_FitEllipseAMS_Issue_2, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(436.59985753246326f, 99.52113368023126f));
pts.push_back(Point2f(454.40214161915856f, 160.47565296546912f));
pts.push_back(Point2f(406.01996690372687f, 215.41999534561575f));
pts.push_back(Point2f(362.8738685722881f, 262.1842668997318f));
pts.push_back(Point2f(300.72864073265407f, 290.8182699272777f));
pts.push_back(Point2f(247.62963883830972f, 311.383137106776f));
pts.push_back(Point2f(194.15394659099445f, 313.30260991427565f));
pts.push_back(Point2f(138.934393338296f, 310.50203123324223f));
pts.push_back(Point2f(91.66999301197541f, 300.57303988670515f));
pts.push_back(Point2f(28.286233855826133f, 268.0670159317756f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(223.917f, 169.701f), Size2f(456.628f, 277.809f), -12.6378f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
TEST(Imgproc_FitEllipseAMS_Issue_3, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(459.59217920219083f, 480.1054989283611f));
pts.push_back(Point2f(427.2759071813645f, 501.82653857689616f));
pts.push_back(Point2f(388.35145730295574f, 520.9488690267101f));
pts.push_back(Point2f(349.53248668650656f, 522.9153107979839f));
pts.push_back(Point2f(309.56018996762094f, 527.449631776843f));
pts.push_back(Point2f(272.07480726768665f, 508.12367135706165f));
pts.push_back(Point2f(234.69230939247115f, 519.8943877180591f));
pts.push_back(Point2f(201.65185545142472f, 509.47870288702813f));
pts.push_back(Point2f(169.37222144138462f, 498.2681549419808f));
pts.push_back(Point2f(147.96233740677815f, 467.0923094529034f));
pts.push_back(Point2f(109.68331701139209f, 433.39069422941986f));
pts.push_back(Point2f(81.95454413977822f, 397.34325168750087f));
pts.push_back(Point2f(63.74923800767195f, 371.939105294963f));
pts.push_back(Point2f(39.966434417279885f, 329.9581349942296f));
pts.push_back(Point2f(21.581668415402532f, 292.6692716276865f));
pts.push_back(Point2f(13.687334926511767f, 248.91164234903772f));
pts.push_back(Point2f(0.0f, 201.25693715845716f));
pts.push_back(Point2f(3.90259455356599f, 155.68155247210575f));
pts.push_back(Point2f(39.683930802331844f, 110.26290871953987f));
pts.push_back(Point2f(47.85826684019932f, 70.82454140948524f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(266.796f, 260.167f), Size2f(580.374f, 469.465f), 50.3961f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
TEST(Imgproc_FitEllipseAMS_Issue_4, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(461.1761758124861f, 79.55196261616746f));
pts.push_back(Point2f(470.5034888757249f, 100.56760245239015f));
pts.push_back(Point2f(470.7814479849749f, 127.45783922150272f));
pts.push_back(Point2f(465.214384653262f, 157.51792078285405f));
pts.push_back(Point2f(465.3739691861813f, 185.89204350118942f));
pts.push_back(Point2f(443.36043162278366f, 214.43399982709002f));
pts.push_back(Point2f(435.04682693174095f, 239.2657073987589f));
pts.push_back(Point2f(444.48553588292697f, 262.0816619678671f));
pts.push_back(Point2f(407.1290185495328f, 285.07828783776347f));
pts.push_back(Point2f(397.71436554935804f, 304.782713567108f));
pts.push_back(Point2f(391.65678619785854f, 323.6809382153118f));
pts.push_back(Point2f(366.3904205781036f, 328.09416679736563f));
pts.push_back(Point2f(341.7656517790918f, 346.9672607008338f));
pts.push_back(Point2f(335.8021864809171f, 358.22416661090296f));
pts.push_back(Point2f(313.29224574204227f, 373.3267160317279f));
pts.push_back(Point2f(291.121216115417f, 377.3339312050791f));
pts.push_back(Point2f(284.20367595990547f, 389.5930108233698f));
pts.push_back(Point2f(270.9682061106809f, 388.4352006517971f));
pts.push_back(Point2f(253.10188273008825f, 392.35120876055373f));
pts.push_back(Point2f(234.2306946938868f, 407.0773705761117f));
pts.push_back(Point2f(217.0544384092144f, 407.54850609237235f));
pts.push_back(Point2f(198.40910966657933f, 423.7008860314684f));
pts.push_back(Point2f(175.47011114845057f, 420.4223434173364f));
pts.push_back(Point2f(154.92083551695902f, 418.5288198459268f));
pts.push_back(Point2f(136.52988517939698f, 417.8311217226818f));
pts.push_back(Point2f(114.74657291069317f, 410.1534699388714f));
pts.push_back(Point2f(78.9220388330042f, 397.6266608135022f));
pts.push_back(Point2f(76.82658673144391f, 404.27399269891055f));
pts.push_back(Point2f(50.953595435605116f, 386.3824077178053f));
pts.push_back(Point2f(43.603489077456985f, 368.7894972436907f));
pts.push_back(Point2f(19.37402592752713f, 343.3511017547511f));
pts.push_back(Point2f(8.714663367287343f, 322.2148323327599f));
pts.push_back(Point2f(0., 288.7836318007535f));
pts.push_back(Point2f(3.98686689837605f, 263.1748167870333f));
pts.push_back(Point2f(9.536389714519785f, 233.02995195684738f));
pts.push_back(Point2f(17.83246556512455f, 205.6536519851621f));
pts.push_back(Point2f(33.00593702846919f, 180.52628138608327f));
pts.push_back(Point2f(41.572400996463394f, 153.95185568689314f));
pts.push_back(Point2f(54.55733659450332f, 136.54322891729444f));
pts.push_back(Point2f(78.60990563833005f, 112.76538180538182f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(237.108f, 207.32f), Size2f(517.287f, 357.591f), -36.3653f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
TEST(Imgproc_FitEllipseAMS_Issue_5, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(509.60609444351917f, 484.8233016998119f));
pts.push_back(Point2f(508.55357451809846f, 498.61004779125176f));
pts.push_back(Point2f(495.59325478416525f, 507.9238702677585f));
pts.push_back(Point2f(455.32905012177747f, 517.7518674113691f));
pts.push_back(Point2f(461.24821761238667f, 524.2115477440211f));
pts.push_back(Point2f(438.8983455906825f, 528.424911702069f));
pts.push_back(Point2f(425.9259699875303f, 532.5700430134499f));
pts.push_back(Point2f(405.77496728300616f, 535.7295008444993f));
pts.push_back(Point2f(384.31968113982475f, 536.3076260371831f));
pts.push_back(Point2f(381.5356536818977f, 540.183355729414f));
pts.push_back(Point2f(378.2530503455792f, 540.2871855284832f));
pts.push_back(Point2f(357.7242088314752f, 543.473075733281f));
pts.push_back(Point2f(339.27871831324853f, 541.2099003613087f));
pts.push_back(Point2f(339.22481874867435f, 541.1105421426018f));
pts.push_back(Point2f(331.50337377509396f, 539.7296050163102f));
pts.push_back(Point2f(317.8306501537862f, 540.9077275195326f));
pts.push_back(Point2f(304.9192648323086f, 541.3434792768918f));
pts.push_back(Point2f(297.33855427908617f, 543.0590309600501f));
pts.push_back(Point2f(288.95330515997694f, 543.8756702506837f));
pts.push_back(Point2f(278.5850913122515f, 538.1343888329859f));
pts.push_back(Point2f(266.05355938101724f, 538.4115695907074f));
pts.push_back(Point2f(255.30186994366096f, 534.2459272411796f));
pts.push_back(Point2f(238.52054973466758f, 537.5007401480628f));
pts.push_back(Point2f(228.444463024996f, 533.8992361116678f));
pts.push_back(Point2f(217.8111623149833f, 538.2269193558991f));
pts.push_back(Point2f(209.43502138981037f, 532.8057062984569f));
pts.push_back(Point2f(193.33570716763276f, 527.2038128630041f));
pts.push_back(Point2f(172.66725340039625f, 526.4020881005537f));
pts.push_back(Point2f(158.33654199771337f, 525.2093856704676f));
pts.push_back(Point2f(148.65905485249067f, 521.0146762179431f));
pts.push_back(Point2f(147.6615365176719f, 517.4315201992808f));
pts.push_back(Point2f(122.43568509949394f, 514.2089723387337f));
pts.push_back(Point2f(110.88482982039073f, 509.14004840857046f));
pts.push_back(Point2f(107.10516681523065f, 502.49943180234266f));
pts.push_back(Point2f(82.66611013934804f, 494.0581153893113f));
pts.push_back(Point2f(63.573319848965966f, 485.6772487054385f));
pts.push_back(Point2f(47.65729058071245f, 475.4468806518075f));
pts.push_back(Point2f(19.96819458379347f, 463.98285210241943f));
pts.push_back(Point2f(27.855803175234342f, 450.2298664426336f));
pts.push_back(Point2f(12.832198085636549f, 435.6317753810441f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(265.252f, 451.597f), Size2f(503.386f, 174.674f), 5.31814f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
TEST(Imgproc_FitEllipseAMS_Issue_6, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(414.90156479295905f, 29.063453659930833f));
pts.push_back(Point2f(393.79576036337977f, 58.59512774879134f));
pts.push_back(Point2f(387.9100725249931f, 94.65067695657254f));
pts.push_back(Point2f(351.6987114318621f, 124.6049267560123f));
pts.push_back(Point2f(335.3270519942532f, 154.52182750730412f));
pts.push_back(Point2f(329.2955843262556f, 179.38031343427303f));
pts.push_back(Point2f(322.7316812937696f, 201.88774427737036f));
pts.push_back(Point2f(301.48326350826585f, 217.63331351026562f));
pts.push_back(Point2f(287.4603938315088f, 228.68790184154113f));
pts.push_back(Point2f(273.36617750656023f, 234.48397257849905f));
pts.push_back(Point2f(270.7787206270782f, 242.85279436204632f));
pts.push_back(Point2f(268.6973828073692f, 246.10891460870312f));
pts.push_back(Point2f(261.60715070464255f, 252.65744793902192f));
pts.push_back(Point2f(262.9041824871923f, 257.1813047575656f));
pts.push_back(Point2f(263.3210079177046f, 260.0532193246593f));
pts.push_back(Point2f(248.49568488533242f, 264.56723557175013f));
pts.push_back(Point2f(245.4134174127509f, 264.87259401292f));
pts.push_back(Point2f(244.73208618171216f, 272.32307359830884f));
pts.push_back(Point2f(232.82093196087555f, 272.0239734764616f));
pts.push_back(Point2f(235.28539413113458f, 276.8668447478244f));
pts.push_back(Point2f(231.9766571511147f, 277.71179872893083f));
pts.push_back(Point2f(227.23880706209866f, 284.5588878789101f));
pts.push_back(Point2f(222.53202223537826f, 282.2293154479012f));
pts.push_back(Point2f(217.27525654729595f, 297.42961148365725f));
pts.push_back(Point2f(212.19490057230672f, 294.5344078014253f));
pts.push_back(Point2f(207.47417472945446f, 301.72230412668307f));
pts.push_back(Point2f(202.11143229969164f, 298.8588627545512f));
pts.push_back(Point2f(196.62967096845824f, 309.39738607353223f));
pts.push_back(Point2f(190.37809841992106f, 318.3250479151242f));
pts.push_back(Point2f(183.1296129732803f, 322.35242231955453f));
pts.push_back(Point2f(171.58530535265993f, 330.4981441404153f));
pts.push_back(Point2f(160.40092880652247f, 337.47275990208226f));
pts.push_back(Point2f(149.44888762618092f, 343.42296086656717f));
pts.push_back(Point2f(139.7923528305302f, 353.4821948045352f));
pts.push_back(Point2f(121.08414969113318f, 359.7010225709457f));
pts.push_back(Point2f(100.10629739219641f, 375.3155744055458f));
pts.push_back(Point2f(78.15715630786733f, 389.0311284319413f));
pts.push_back(Point2f(51.22820988075294f, 396.98646504159547f));
pts.push_back(Point2f(30.71132492338431f, 402.85098740402844f));
pts.push_back(Point2f(10.994737323179852f, 394.6764602972333f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(192.467f, 204.404f), Size2f(551.397f, 165.068f), 136.913f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
TEST(Imgproc_FitEllipseAMS_Issue_7, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(386.7497806918209f, 119.55623710363142f));
pts.push_back(Point2f(399.0712613744503f, 132.61095972401034f));
pts.push_back(Point2f(400.3582576852657f, 146.71942033652573f));
pts.push_back(Point2f(383.31046706707906f, 160.13631428164982f));
pts.push_back(Point2f(387.1626582455823f, 173.82700569763574f));
pts.push_back(Point2f(378.88843308401425f, 186.10333319745317f));
pts.push_back(Point2f(367.55061701208f, 201.41492900400164f));
pts.push_back(Point2f(360.3254967185148f, 209.03834085076022f));
pts.push_back(Point2f(346.2645164278429f, 222.03214282040395f));
pts.push_back(Point2f(342.3483403634167f, 230.58290419787073f));
pts.push_back(Point2f(326.2900969991908f, 240.23679566682756f));
pts.push_back(Point2f(324.5622396580625f, 249.56961396707823f));
pts.push_back(Point2f(304.23417130914095f, 259.6693711280021f));
pts.push_back(Point2f(295.54035697534675f, 270.82284542557704f));
pts.push_back(Point2f(291.7403057147348f, 276.1536825048371f));
pts.push_back(Point2f(269.19344116558665f, 287.1705579044651f));
pts.push_back(Point2f(256.5350613899267f, 274.91264707500943f));
pts.push_back(Point2f(245.93644351417183f, 286.12398028743064f));
pts.push_back(Point2f(232.40892420943732f, 282.73986583867065f));
pts.push_back(Point2f(216.17957969101082f, 293.22229708237705f));
pts.push_back(Point2f(205.66843722622573f, 295.7032575625158f));
pts.push_back(Point2f(192.219969335765f, 302.6968969534755f));
pts.push_back(Point2f(178.37758801730416f, 295.56656776633287f));
pts.push_back(Point2f(167.60089103756644f, 301.4629292267722f));
pts.push_back(Point2f(157.44802813915317f, 298.90830855734504f));
pts.push_back(Point2f(138.44311818820313f, 293.951927187897f));
pts.push_back(Point2f(128.92747660038592f, 291.4122695492978f));
pts.push_back(Point2f(119.75160909865994f, 282.5809454721714f));
pts.push_back(Point2f(98.48443737042328f, 290.39938776333247f));
pts.push_back(Point2f(88.05275635126131f, 280.11156058895745f));
pts.push_back(Point2f(82.45799026448167f, 271.46668468419773f));
pts.push_back(Point2f(68.04031962064084f, 267.8136468580707f));
pts.push_back(Point2f(58.99967170878713f, 263.8859310392943f));
pts.push_back(Point2f(41.256097220823484f, 260.6041605773932f));
pts.push_back(Point2f(40.66198797608645f, 246.64973068177196f));
pts.push_back(Point2f(31.085484380646008f, 239.28615601336074f));
pts.push_back(Point2f(24.069417111444253f, 225.2228746297288f));
pts.push_back(Point2f(22.10122953275156f, 212.75509683149195f));
pts.push_back(Point2f(9.929991244497518f, 203.20662088477752f));
pts.push_back(Point2f(0.0f, 190.04891498441148f));
bool AMSGoodQ;
float tol = 0.01f;
RotatedRect ellipseAMSTrue = cv::RotatedRect(Point2f(197.292f, 134.64f), Size2f(401.092f, 320.051f), 165.429f);
RotatedRect ellipseAMSTest = fitEllipseAMS(pts);
Point2f ellipseAMSTrueVertices[4];
Point2f ellipseAMSTestVertices[4];
ellipseAMSTest.points(ellipseAMSTestVertices);
ellipseAMSTrue.points(ellipseAMSTrueVertices);
float AMSDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseAMSTrueVertices[i] - ellipseAMSTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
AMSDiff += std::sqrt(d);
}
AMSGoodQ = AMSDiff < tol;
EXPECT_TRUE(AMSGoodQ);
}
modules/imgproc/test/test_fitellipseDirect.cpp
+442
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@@ -0,0 +1,442 @@
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
//
// Copyright (C) 2016, Itseez, Inc, all rights reserved.
#include "test_precomp.hpp"
#include <vector>
#include <cmath>
using namespace cv;
using namespace std;
TEST(Imgproc_FitEllipseDirect_Issue_1, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(173.41854895999165f, 125.84473135880411f));
pts.push_back(Point2f(180.63769498640912f, 130.960006577589f));
pts.push_back(Point2f(174.99173759130173f, 137.34265632926764f));
pts.push_back(Point2f(170.9044645313217f, 141.68017556480243f));
pts.push_back(Point2f(163.48965388499656f, 141.9404438924043f));
pts.push_back(Point2f(159.37687818401147f, 148.60835331594876f));
pts.push_back(Point2f(150.38917629356735f, 155.68825577720446f));
pts.push_back(Point2f(147.16319653316862f, 157.06039984963923f));
pts.push_back(Point2f(141.73118707843207f, 157.2570155198414f));
pts.push_back(Point2f(130.61569602948597f, 159.40742182929364f));
pts.push_back(Point2f(127.00573042229027f, 161.34430232187867f));
pts.push_back(Point2f(120.49383815053747f, 163.72610883128334f));
pts.push_back(Point2f(114.62383760040998f, 162.6788666385239f));
pts.push_back(Point2f(108.84871269183333f, 161.90597054388132f));
pts.push_back(Point2f(103.04574087829076f, 167.44352944383985f));
pts.push_back(Point2f(96.31623870161255f, 163.71641295746116f));
pts.push_back(Point2f(89.86174417295126f, 157.2967811253635f));
pts.push_back(Point2f(84.27940674801192f, 168.6331304010667f));
pts.push_back(Point2f(76.61995117937661f, 159.4445412678832f));
pts.push_back(Point2f(72.22526316142418f, 154.60770776728293f));
pts.push_back(Point2f(64.97742405067658f, 152.3687174339018f));
pts.push_back(Point2f(58.34612797237003f, 155.61116802371583f));
pts.push_back(Point2f(55.59089117268539f, 148.56245696566418f));
pts.push_back(Point2f(45.22711195983706f, 145.6713241271927f));
pts.push_back(Point2f(40.090542298840234f, 142.36141304004002f));
pts.push_back(Point2f(31.788996807277414f, 136.26164877915585f));
pts.push_back(Point2f(27.27613006088805f, 137.46860042141503f));
pts.push_back(Point2f(23.972392188502226f, 129.17993872328594f));
pts.push_back(Point2f(20.688046711616977f, 121.52750840733087f));
pts.push_back(Point2f(14.635115184257643f, 115.36942800110485f));
pts.push_back(Point2f(14.850919318756809f, 109.43609786936987f));
pts.push_back(Point2f(7.476847697758103f, 102.67657265589285f));
pts.push_back(Point2f(1.8896944088091914f, 95.78878215565676f));
pts.push_back(Point2f(1.731997022935417f, 88.17674033990495f));
pts.push_back(Point2f(1.6780841363402033f, 80.65581939883002f));
pts.push_back(Point2f(0.035330281415411946f, 73.1088693846768f));
pts.push_back(Point2f(0.14652518786238033f, 65.42769523404296f));
pts.push_back(Point2f(6.99914645302843f, 58.436451064804245f));
pts.push_back(Point2f(6.719616410428614f, 50.15263031354927f));
pts.push_back(Point2f(5.122267598477748f, 46.03603214691343f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(91.3256f, 90.4668f),Size2f(187.211f, 140.031f), 21.5808f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}
TEST(Imgproc_FitEllipseDirect_Issue_2, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(436.59985753246326f, 99.52113368023126f));
pts.push_back(Point2f(454.40214161915856f, 160.47565296546912f));
pts.push_back(Point2f(406.01996690372687f, 215.41999534561575f));
pts.push_back(Point2f(362.8738685722881f, 262.1842668997318f));
pts.push_back(Point2f(300.72864073265407f, 290.8182699272777f));
pts.push_back(Point2f(247.62963883830972f, 311.383137106776f));
pts.push_back(Point2f(194.15394659099445f, 313.30260991427565f));
pts.push_back(Point2f(138.934393338296f, 310.50203123324223f));
pts.push_back(Point2f(91.66999301197541f, 300.57303988670515f));
pts.push_back(Point2f(28.286233855826133f, 268.0670159317756f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(228.232f, 174.879f),Size2f(450.68f, 265.556f), 166.181f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}
TEST(Imgproc_FitEllipseDirect_Issue_3, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(459.59217920219083f, 480.1054989283611f));
pts.push_back(Point2f(427.2759071813645f, 501.82653857689616f));
pts.push_back(Point2f(388.35145730295574f, 520.9488690267101f));
pts.push_back(Point2f(349.53248668650656f, 522.9153107979839f));
pts.push_back(Point2f(309.56018996762094f, 527.449631776843f));
pts.push_back(Point2f(272.07480726768665f, 508.12367135706165f));
pts.push_back(Point2f(234.69230939247115f, 519.8943877180591f));
pts.push_back(Point2f(201.65185545142472f, 509.47870288702813f));
pts.push_back(Point2f(169.37222144138462f, 498.2681549419808f));
pts.push_back(Point2f(147.96233740677815f, 467.0923094529034f));
pts.push_back(Point2f(109.68331701139209f, 433.39069422941986f));
pts.push_back(Point2f(81.95454413977822f, 397.34325168750087f));
pts.push_back(Point2f(63.74923800767195f, 371.939105294963f));
pts.push_back(Point2f(39.966434417279885f, 329.9581349942296f));
pts.push_back(Point2f(21.581668415402532f, 292.6692716276865f));
pts.push_back(Point2f(13.687334926511767f, 248.91164234903772f));
pts.push_back(Point2f(0.0f, 201.25693715845716f));
pts.push_back(Point2f(3.90259455356599f, 155.68155247210575f));
pts.push_back(Point2f(39.683930802331844f, 110.26290871953987f));
pts.push_back(Point2f(47.85826684019932f, 70.82454140948524f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(255.326f, 272.626f),Size2f(570.999f, 434.23f), 49.0265f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}
TEST(Imgproc_FitEllipseDirect_Issue_4, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(461.1761758124861f, 79.55196261616746f));
pts.push_back(Point2f(470.5034888757249f, 100.56760245239015f));
pts.push_back(Point2f(470.7814479849749f, 127.45783922150272f));
pts.push_back(Point2f(465.214384653262f, 157.51792078285405f));
pts.push_back(Point2f(465.3739691861813f, 185.89204350118942f));
pts.push_back(Point2f(443.36043162278366f, 214.43399982709002f));
pts.push_back(Point2f(435.04682693174095f, 239.2657073987589f));
pts.push_back(Point2f(444.48553588292697f, 262.0816619678671f));
pts.push_back(Point2f(407.1290185495328f, 285.07828783776347f));
pts.push_back(Point2f(397.71436554935804f, 304.782713567108f));
pts.push_back(Point2f(391.65678619785854f, 323.6809382153118f));
pts.push_back(Point2f(366.3904205781036f, 328.09416679736563f));
pts.push_back(Point2f(341.7656517790918f, 346.9672607008338f));
pts.push_back(Point2f(335.8021864809171f, 358.22416661090296f));
pts.push_back(Point2f(313.29224574204227f, 373.3267160317279f));
pts.push_back(Point2f(291.121216115417f, 377.3339312050791f));
pts.push_back(Point2f(284.20367595990547f, 389.5930108233698f));
pts.push_back(Point2f(270.9682061106809f, 388.4352006517971f));
pts.push_back(Point2f(253.10188273008825f, 392.35120876055373f));
pts.push_back(Point2f(234.2306946938868f, 407.0773705761117f));
pts.push_back(Point2f(217.0544384092144f, 407.54850609237235f));
pts.push_back(Point2f(198.40910966657933f, 423.7008860314684f));
pts.push_back(Point2f(175.47011114845057f, 420.4223434173364f));
pts.push_back(Point2f(154.92083551695902f, 418.5288198459268f));
pts.push_back(Point2f(136.52988517939698f, 417.8311217226818f));
pts.push_back(Point2f(114.74657291069317f, 410.1534699388714f));
pts.push_back(Point2f(78.9220388330042f, 397.6266608135022f));
pts.push_back(Point2f(76.82658673144391f, 404.27399269891055f));
pts.push_back(Point2f(50.953595435605116f, 386.3824077178053f));
pts.push_back(Point2f(43.603489077456985f, 368.7894972436907f));
pts.push_back(Point2f(19.37402592752713f, 343.3511017547511f));
pts.push_back(Point2f(8.714663367287343f, 322.2148323327599f));
pts.push_back(Point2f(0., 288.7836318007535f));
pts.push_back(Point2f(3.98686689837605f, 263.1748167870333f));
pts.push_back(Point2f(9.536389714519785f, 233.02995195684738f));
pts.push_back(Point2f(17.83246556512455f, 205.6536519851621f));
pts.push_back(Point2f(33.00593702846919f, 180.52628138608327f));
pts.push_back(Point2f(41.572400996463394f, 153.95185568689314f));
pts.push_back(Point2f(54.55733659450332f, 136.54322891729444f));
pts.push_back(Point2f(78.60990563833005f, 112.76538180538182f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(236.836f, 208.089f),Size2f(515.893f, 357.166f), -35.9996f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}
TEST(Imgproc_FitEllipseDirect_Issue_5, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(509.60609444351917f, 484.8233016998119f));
pts.push_back(Point2f(508.55357451809846f, 498.61004779125176f));
pts.push_back(Point2f(495.59325478416525f, 507.9238702677585f));
pts.push_back(Point2f(455.32905012177747f, 517.7518674113691f));
pts.push_back(Point2f(461.24821761238667f, 524.2115477440211f));
pts.push_back(Point2f(438.8983455906825f, 528.424911702069f));
pts.push_back(Point2f(425.9259699875303f, 532.5700430134499f));
pts.push_back(Point2f(405.77496728300616f, 535.7295008444993f));
pts.push_back(Point2f(384.31968113982475f, 536.3076260371831f));
pts.push_back(Point2f(381.5356536818977f, 540.183355729414f));
pts.push_back(Point2f(378.2530503455792f, 540.2871855284832f));
pts.push_back(Point2f(357.7242088314752f, 543.473075733281f));
pts.push_back(Point2f(339.27871831324853f, 541.2099003613087f));
pts.push_back(Point2f(339.22481874867435f, 541.1105421426018f));
pts.push_back(Point2f(331.50337377509396f, 539.7296050163102f));
pts.push_back(Point2f(317.8306501537862f, 540.9077275195326f));
pts.push_back(Point2f(304.9192648323086f, 541.3434792768918f));
pts.push_back(Point2f(297.33855427908617f, 543.0590309600501f));
pts.push_back(Point2f(288.95330515997694f, 543.8756702506837f));
pts.push_back(Point2f(278.5850913122515f, 538.1343888329859f));
pts.push_back(Point2f(266.05355938101724f, 538.4115695907074f));
pts.push_back(Point2f(255.30186994366096f, 534.2459272411796f));
pts.push_back(Point2f(238.52054973466758f, 537.5007401480628f));
pts.push_back(Point2f(228.444463024996f, 533.8992361116678f));
pts.push_back(Point2f(217.8111623149833f, 538.2269193558991f));
pts.push_back(Point2f(209.43502138981037f, 532.8057062984569f));
pts.push_back(Point2f(193.33570716763276f, 527.2038128630041f));
pts.push_back(Point2f(172.66725340039625f, 526.4020881005537f));
pts.push_back(Point2f(158.33654199771337f, 525.2093856704676f));
pts.push_back(Point2f(148.65905485249067f, 521.0146762179431f));
pts.push_back(Point2f(147.6615365176719f, 517.4315201992808f));
pts.push_back(Point2f(122.43568509949394f, 514.2089723387337f));
pts.push_back(Point2f(110.88482982039073f, 509.14004840857046f));
pts.push_back(Point2f(107.10516681523065f, 502.49943180234266f));
pts.push_back(Point2f(82.66611013934804f, 494.0581153893113f));
pts.push_back(Point2f(63.573319848965966f, 485.6772487054385f));
pts.push_back(Point2f(47.65729058071245f, 475.4468806518075f));
pts.push_back(Point2f(19.96819458379347f, 463.98285210241943f));
pts.push_back(Point2f(27.855803175234342f, 450.2298664426336f));
pts.push_back(Point2f(12.832198085636549f, 435.6317753810441f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(264.354f, 457.336f),Size2f(493.728f, 162.9f), 5.36186f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}
TEST(Imgproc_FitEllipseDirect_Issue_6, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(414.90156479295905f, 29.063453659930833f));
pts.push_back(Point2f(393.79576036337977f, 58.59512774879134f));
pts.push_back(Point2f(387.9100725249931f, 94.65067695657254f));
pts.push_back(Point2f(351.6987114318621f, 124.6049267560123f));
pts.push_back(Point2f(335.3270519942532f, 154.52182750730412f));
pts.push_back(Point2f(329.2955843262556f, 179.38031343427303f));
pts.push_back(Point2f(322.7316812937696f, 201.88774427737036f));
pts.push_back(Point2f(301.48326350826585f, 217.63331351026562f));
pts.push_back(Point2f(287.4603938315088f, 228.68790184154113f));
pts.push_back(Point2f(273.36617750656023f, 234.48397257849905f));
pts.push_back(Point2f(270.7787206270782f, 242.85279436204632f));
pts.push_back(Point2f(268.6973828073692f, 246.10891460870312f));
pts.push_back(Point2f(261.60715070464255f, 252.65744793902192f));
pts.push_back(Point2f(262.9041824871923f, 257.1813047575656f));
pts.push_back(Point2f(263.3210079177046f, 260.0532193246593f));
pts.push_back(Point2f(248.49568488533242f, 264.56723557175013f));
pts.push_back(Point2f(245.4134174127509f, 264.87259401292f));
pts.push_back(Point2f(244.73208618171216f, 272.32307359830884f));
pts.push_back(Point2f(232.82093196087555f, 272.0239734764616f));
pts.push_back(Point2f(235.28539413113458f, 276.8668447478244f));
pts.push_back(Point2f(231.9766571511147f, 277.71179872893083f));
pts.push_back(Point2f(227.23880706209866f, 284.5588878789101f));
pts.push_back(Point2f(222.53202223537826f, 282.2293154479012f));
pts.push_back(Point2f(217.27525654729595f, 297.42961148365725f));
pts.push_back(Point2f(212.19490057230672f, 294.5344078014253f));
pts.push_back(Point2f(207.47417472945446f, 301.72230412668307f));
pts.push_back(Point2f(202.11143229969164f, 298.8588627545512f));
pts.push_back(Point2f(196.62967096845824f, 309.39738607353223f));
pts.push_back(Point2f(190.37809841992106f, 318.3250479151242f));
pts.push_back(Point2f(183.1296129732803f, 322.35242231955453f));
pts.push_back(Point2f(171.58530535265993f, 330.4981441404153f));
pts.push_back(Point2f(160.40092880652247f, 337.47275990208226f));
pts.push_back(Point2f(149.44888762618092f, 343.42296086656717f));
pts.push_back(Point2f(139.7923528305302f, 353.4821948045352f));
pts.push_back(Point2f(121.08414969113318f, 359.7010225709457f));
pts.push_back(Point2f(100.10629739219641f, 375.3155744055458f));
pts.push_back(Point2f(78.15715630786733f, 389.0311284319413f));
pts.push_back(Point2f(51.22820988075294f, 396.98646504159547f));
pts.push_back(Point2f(30.71132492338431f, 402.85098740402844f));
pts.push_back(Point2f(10.994737323179852f, 394.6764602972333f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(207.145f, 223.308f),Size2f(499.583f, 117.473f), -42.6851f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}
TEST(Imgproc_FitEllipseDirect_Issue_7, accuracy) {
vector<Point2f>pts;
pts.push_back(Point2f(386.7497806918209f, 119.55623710363142f));
pts.push_back(Point2f(399.0712613744503f, 132.61095972401034f));
pts.push_back(Point2f(400.3582576852657f, 146.71942033652573f));
pts.push_back(Point2f(383.31046706707906f, 160.13631428164982f));
pts.push_back(Point2f(387.1626582455823f, 173.82700569763574f));
pts.push_back(Point2f(378.88843308401425f, 186.10333319745317f));
pts.push_back(Point2f(367.55061701208f, 201.41492900400164f));
pts.push_back(Point2f(360.3254967185148f, 209.03834085076022f));
pts.push_back(Point2f(346.2645164278429f, 222.03214282040395f));
pts.push_back(Point2f(342.3483403634167f, 230.58290419787073f));
pts.push_back(Point2f(326.2900969991908f, 240.23679566682756f));
pts.push_back(Point2f(324.5622396580625f, 249.56961396707823f));
pts.push_back(Point2f(304.23417130914095f, 259.6693711280021f));
pts.push_back(Point2f(295.54035697534675f, 270.82284542557704f));
pts.push_back(Point2f(291.7403057147348f, 276.1536825048371f));
pts.push_back(Point2f(269.19344116558665f, 287.1705579044651f));
pts.push_back(Point2f(256.5350613899267f, 274.91264707500943f));
pts.push_back(Point2f(245.93644351417183f, 286.12398028743064f));
pts.push_back(Point2f(232.40892420943732f, 282.73986583867065f));
pts.push_back(Point2f(216.17957969101082f, 293.22229708237705f));
pts.push_back(Point2f(205.66843722622573f, 295.7032575625158f));
pts.push_back(Point2f(192.219969335765f, 302.6968969534755f));
pts.push_back(Point2f(178.37758801730416f, 295.56656776633287f));
pts.push_back(Point2f(167.60089103756644f, 301.4629292267722f));
pts.push_back(Point2f(157.44802813915317f, 298.90830855734504f));
pts.push_back(Point2f(138.44311818820313f, 293.951927187897f));
pts.push_back(Point2f(128.92747660038592f, 291.4122695492978f));
pts.push_back(Point2f(119.75160909865994f, 282.5809454721714f));
pts.push_back(Point2f(98.48443737042328f, 290.39938776333247f));
pts.push_back(Point2f(88.05275635126131f, 280.11156058895745f));
pts.push_back(Point2f(82.45799026448167f, 271.46668468419773f));
pts.push_back(Point2f(68.04031962064084f, 267.8136468580707f));
pts.push_back(Point2f(58.99967170878713f, 263.8859310392943f));
pts.push_back(Point2f(41.256097220823484f, 260.6041605773932f));
pts.push_back(Point2f(40.66198797608645f, 246.64973068177196f));
pts.push_back(Point2f(31.085484380646008f, 239.28615601336074f));
pts.push_back(Point2f(24.069417111444253f, 225.2228746297288f));
pts.push_back(Point2f(22.10122953275156f, 212.75509683149195f));
pts.push_back(Point2f(9.929991244497518f, 203.20662088477752f));
pts.push_back(Point2f(0.0f, 190.04891498441148f));
bool directGoodQ;
float tol = 0.01f;
RotatedRect ellipseDirectTrue = cv::RotatedRect(Point2f(199.463f, 150.997f),Size2f(390.341f, 286.01f), -12.9696f);
RotatedRect ellipseDirectTest = fitEllipseDirect(pts);
Point2f ellipseDirectTrueVertices[4];
Point2f ellipseDirectTestVertices[4];
ellipseDirectTest.points(ellipseDirectTestVertices);
ellipseDirectTrue.points(ellipseDirectTrueVertices);
float directDiff = 0.0f;
for (size_t i=0; i <=3; i++) {
Point2f diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[0];
float d = diff.x * diff.x + diff.y * diff.y;
for (size_t j=1; i <=3; i++) {
diff = ellipseDirectTrueVertices[i] - ellipseDirectTestVertices[j];
float dd = diff.x * diff.x + diff.y * diff.y;
if(dd<d){d=dd;}
}
directDiff += std::sqrt(d);
}
directGoodQ = directDiff < tol;
EXPECT_TRUE(directGoodQ);
}