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Fix Transposed eigenvals and vecs. Didn't notice at first

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This commit is contained in:
Jasper Shemilt 2017-10-02 17:56:08 +01:00
parent 0136711cf4
commit 800da724a3
2 changed files with 28 additions and 22 deletions
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38
modules/imgproc/src/shapedescr.cpp
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@ -544,15 +544,15 @@ cv::RotatedRect cv::fitEllipseAMS( InputArray _points )
// Select the eigen vector {a,b,c,d,e} which has the lowest eigenvalue // Select the eigen vector {a,b,c,d,e} which has the lowest eigenvalue
int minpos = 0; int minpos = 0;
double normi, normEVali, normMinpos, normEValMinpos; double normi, normEVali, normMinpos, normEValMinpos;
normMinpos = sqrt(eVec.at<double>(0,minpos)*eVec.at<double>(0,minpos) + eVec.at<double>(1,minpos)*eVec.at<double>(1,minpos) + \ 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>(2,minpos)*eVec.at<double>(2,minpos) + eVec.at<double>(3,minpos)*eVec.at<double>(3,minpos) + \ eVec.at<double>(minpos,2)*eVec.at<double>(minpos,2) + eVec.at<double>(minpos,3)*eVec.at<double>(minpos,3) + \
eVec.at<double>(4,minpos)*eVec.at<double>(4,minpos) ); eVec.at<double>(minpos,4)*eVec.at<double>(minpos,4) );
normEValMinpos = eVal.at<double>(0,minpos) * normMinpos; normEValMinpos = eVal.at<double>(minpos,0) * normMinpos;
for (i=1; i<5; i++) { for (i=1; i<5; i++) {
normi = sqrt(eVec.at<double>(0,i)*eVec.at<double>(0,i) + eVec.at<double>(1,i)*eVec.at<double>(1,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>(2,i)*eVec.at<double>(2,i) + eVec.at<double>(3,i)*eVec.at<double>(3,i) + \ eVec.at<double>(i,2)*eVec.at<double>(i,2) + eVec.at<double>(i,3)*eVec.at<double>(i,3) + \
eVec.at<double>(4,i)*eVec.at<double>(4,i) ); eVec.at<double>(i,4)*eVec.at<double>(i,4) );
normEVali = eVal.at<double>(0,i) * normi; normEVali = eVal.at<double>(i,0) * normi;
if (normEVali < normEValMinpos) { if (normEVali < normEValMinpos) {
minpos = i; minpos = i;
normMinpos=normi; normMinpos=normi;
@ -560,11 +560,11 @@ cv::RotatedRect cv::fitEllipseAMS( InputArray _points )
} }
}; };
pVec(0) =eVec.at<double>(0,minpos) / normMinpos; pVec(0) =eVec.at<double>(minpos,0) / normMinpos;
pVec(1) =eVec.at<double>(1,minpos) / normMinpos; pVec(1) =eVec.at<double>(minpos,1) / normMinpos;
pVec(2) =eVec.at<double>(2,minpos) / normMinpos; pVec(2) =eVec.at<double>(minpos,2) / normMinpos;
pVec(3) =eVec.at<double>(3,minpos) / normMinpos; pVec(3) =eVec.at<double>(minpos,3) / normMinpos;
pVec(4) =eVec.at<double>(4,minpos) / normMinpos; pVec(4) =eVec.at<double>(minpos,4) / normMinpos;
coeffs(0) =pVec(0) ; coeffs(0) =pVec(0) ;
coeffs(1) =pVec(1) ; coeffs(1) =pVec(1) ;
@ -715,19 +715,19 @@ cv::RotatedRect cv::fitEllipseDirect( InputArray _points )
// Select the eigen vector {a,b,c} which satisfies 4ac-b^2 > 0 // Select the eigen vector {a,b,c} which satisfies 4ac-b^2 > 0
double cond[3]; double cond[3];
cond[0]=(4.0 * eVec.at<double>(0,0) * eVec.at<double>(2,0) - eVec.at<double>(1,0) * eVec.at<double>(1,0)); 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>(0,1) * eVec.at<double>(2,1) - eVec.at<double>(1,1) * eVec.at<double>(1,1)); 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>(0,2) * eVec.at<double>(2,2) - eVec.at<double>(1,2) * eVec.at<double>(1,2)); 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]) { if (cond[0]<cond[1]) {
i = (cond[1]<cond[2]) ? 2 : 1; i = (cond[1]<cond[2]) ? 2 : 1;
} else { } else {
i = (cond[0]<cond[2]) ? 2 : 0; i = (cond[0]<cond[2]) ? 2 : 0;
} }
double norm = std::sqrt(eVec.at<double>(0,i)*eVec.at<double>(0,i) + eVec.at<double>(1,i)*eVec.at<double>(1,i) + eVec.at<double>(2,i)*eVec.at<double>(2,i)); 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>(0,i)<0.0 ? -1 : 1) * (eVec.at<double>(1,i)<0.0 ? -1 : 1) * (eVec.at<double>(2,i)<0.0 ? -1 : 1)) <= 0.0) { 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; norm=-1.0*norm;
} }
pVec(0) =eVec.at<double>(0,i)/norm; pVec(1) =eVec.at<double>(1,i)/norm;pVec(2) =eVec.at<double>(2,i)/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 = (TM . pVec)/Ts;
Q(0,0) = (TM(0,0)*pVec(0) +TM(0,1)*pVec(1) +TM(0,2)*pVec(2) )/Ts; Q(0,0) = (TM(0,0)*pVec(0) +TM(0,1)*pVec(1) +TM(0,2)*pVec(2) )/Ts;

12
samples/cpp/fitellipse.cpp
View File

@ -282,15 +282,21 @@ void processImage(int /*h*/, void*)
} }
if (fitEllipseQ) { if (fitEllipseQ) {
box = fitEllipse(pts); box = fitEllipse(pts);
if( MAX(box.size.width, box.size.height) > MIN(box.size.width, box.size.height)*30 ){continue;}; if( MAX(box.size.width, box.size.height) > MIN(box.size.width, box.size.height)*30 ||
MAX(box.size.width, box.size.height) <= 0 ||
MIN(box.size.width, box.size.height) <= 0){continue;};
} }
if (fitEllipseAMSQ) { if (fitEllipseAMSQ) {
boxAMS = fitEllipseAMS(pts); boxAMS = fitEllipseAMS(pts);
if( MAX(boxAMS.size.width, boxAMS.size.height) > MIN(boxAMS.size.width, boxAMS.size.height)*30 ){continue;}; if( MAX(boxAMS.size.width, boxAMS.size.height) > MIN(boxAMS.size.width, boxAMS.size.height)*30 ||
MAX(box.size.width, box.size.height) <= 0 ||
MIN(box.size.width, box.size.height) <= 0){continue;};
} }
if (fitEllipseDirectQ) { if (fitEllipseDirectQ) {
boxDirect = fitEllipseDirect(pts); boxDirect = fitEllipseDirect(pts);
if( MAX(boxDirect.size.width, boxDirect.size.height) > MIN(boxDirect.size.width, boxDirect.size.height)*30 ){continue;}; if( MAX(boxDirect.size.width, boxDirect.size.height) > MIN(boxDirect.size.width, boxDirect.size.height)*30 ||
MAX(box.size.width, box.size.height) <= 0 ||
MIN(box.size.width, box.size.height) <= 0 ){continue;};
} }
if (fitEllipseQ) { if (fitEllipseQ) {