//
// Draw catenary curve between conductor attachment points
// from the current tower to the previous tower.
//
void vtRoute::_DrawCat(FPoint3 pt0, FPoint3 pt1, double catenary,
int iNumSegs, vtMesh *pWireMesh)
{
FPoint3 diff = pt1-pt0;
FPoint3 ptNew;
int i;
double xz = sqrt(diff.z*diff.z+diff.x*diff.x); // distance in the xz plane
double y = diff.y;
FPoint3 step = diff / (float) iNumSegs;
// Calculate the parabolic constants.
double parabolicConst = (xz / 2) - (y * (catenary / xz));
FPoint3 ptCur(0,0,0);
double dist=0;
vtHeightField3d *pHeightField = m_pTheTerrain->GetHeightField();
float ground;
// Iterate along the xz-plane
for (i = 0; i < iNumSegs-1; i++)
{
ptCur.x += step.x;
ptCur.z += step.z;
dist = sqrt(ptCur.x*ptCur.x + ptCur.z*ptCur.z);
ptCur.y = (float) ((dist / (2*catenary)) * (dist - (2*parabolicConst)));
ptNew = pt0 + ptCur;
pHeightField->FindAltitudeAtPoint(ptNew, ground);
ground += 0.5;
if (ptNew.y < ground)
ptNew.y = ground;
pWireMesh->AddVertex(ptNew);
}
}
//变角度线扫描法——改进后的线扫描法
void findCircleParameter::revisedScanLineMethod(Mat imgOrg, Point2i& center, int& radius, int threshold, int N)
{
Mat src, gray;
src = imgOrg.clone();
cvtColor(src, gray, CV_BGR2GRAY);
vector<Point> points;
vector<double> distance;
Size imgSize = src.size();
int x, y;
double theta = 0;
for (int n = 0; n < 2 * N; n++, theta = PI*n / (2 * N))
{
//if (n == N||n==0) continue;
int min1, min2;
min1 = min2 = 255;
int max1, max2;
max1 = max2 = 0;
int radius = 0;
Point ptMax1(0, 0), ptMax2(0, 0);
Point ptMin1(0, 0), ptMin2(0, 0);
int flag = 0;
double minVal, maxVal;
if (0 == n)
{
for (int i = 0; i < imgSize.height; i++)
{
minMaxLoc(gray.row(i), &minVal, &maxVal, &ptMin1, &ptMax1);
if ((maxVal - minVal)>threshold)
{
flag++;
ptMax1.y = i;
//cout << "horizontal top:" << endl;
//cout << "ptMax1=(" << ptMax1.x << ", " << ptMax1.y << ")" << endl;
points.push_back(ptMax1);
goto top_label;
}
}
top_label:
#ifdef _SHOW_POINTS_
circle(src, ptMax1, 5, Scalar(0, 255, 255), -1);
imshow("src", src);
waitKey();
#endif
for (int i = imgSize.height - 1; i >= 0; i--)
{
minMaxLoc(gray.row(i), &minVal, &maxVal, &ptMin2, &ptMax2);
if ((maxVal - minVal) > threshold)
{
flag++;
ptMax2.y = i;
//cout << "horizontal bottom:" << endl;
//cout << "ptMax2=(" << ptMax2.x << ", " << ptMax2.y << ")" << endl;
//src.row(i) = Scalar(0, 0, 255);
//src.row(i + 1) = Scalar(0, 0, 255);
points.push_back(ptMax2);
goto bottom_label;
}
}
bottom_label:
#ifdef _SHOW_POINTS_
circle(src, ptMax2, 5, Scalar(0, 255, 255), -1);
line(src, ptMax1, ptMax2, Scalar(192, 192, 0), 2);
imshow("src", src);
waitKey();
#endif
if (flag == 2)
{
distance.push_back(sqrt(pow(ptMax1.x - ptMax2.x, 2) + pow(ptMax1.y - ptMax2.y, 2)));
}
else if (flag == 1)
{
points.pop_back();
}
}
else if (0 < n&&n < N)
{
for (int i = 0; i < imgSize.width; i++)
{
for (int j = 0; j <= i; j++)
{
x = j;
y = -tan(theta)*(x - i);
Point ptCur(x, y);
if (!ptCur.inside(Rect(0, 0, imgSize.width, imgSize.height)))
{
continue;
}
uchar I = gray.at<uchar>(ptCur);
if (I > max1)
{
max1 = I;
ptMax1 = ptCur;
}
if (I < min1)
{
min1 = I;
}
if (abs(max1 - min1) > threshold)
{
flag++;
//cout << "jump outer1" << endl;
//cout << "ptMax1=(" << ptMax1.x << ", " << ptMax1.y << ")" << endl;
points.push_back(ptMax1);
/* Point start, end;
for (int k = 0; k <= i; k++)
{
x = k;
y = -tan(theta)*(x - i);
if (k == 0)
{
start = Point(x, y);
}
else if (k == i)
{
end = Point(x, y);
}
}
line(src, start, end, Scalar(0, 0, 255), 2);*/
goto outer1;
}
}
}
outer1:
#ifdef _SHOW_POINTS_
circle(src, ptMax1, 5, Scalar(0, 255, 255), -1);
imshow("src", src);
waitKey();
#endif
for (int i = imgSize.width - 1; i >= 0; i--)
{
for (int j = i; j < imgSize.width; j++)
{
x = j;
y = imgSize.height - 1 - tan(theta)*(x - i);
Point ptCur(x, y);
if (!ptCur.inside(Rect(0, 0, imgSize.width, imgSize.height)))
{
continue;
}
uchar I = gray.at<uchar>(ptCur);
if (I > max2)
{
max2 = I;
ptMax2 = ptCur;
}
if (I < min2)
{
min2 = I;
}
if (abs(max2 - min2) > threshold)
{
flag++;
//cout << "jump outer2" << endl;
//cout << "ptMax2=(" << ptMax2.x << ", " << ptMax2.y << ")" << endl;
points.push_back(ptMax2);
//Point start, end;
//for (int k = i; k < imgSize.width; k++)
//{
// x = k;
// y = imgSize.height - 1 - tan(theta)*(x - i);
// if (k == i)
// {
// start = Point(x, y);
// }
// else if (k == imgSize.width-1)
// {
// end = Point(x, y);
// }
//}
//line(src, start, end, Scalar(0, 0, 255), 2);
goto outer2;
}
}
}
outer2:
;
#ifdef _SHOW_POINTS_
circle(src, ptMax2, 5, Scalar(0, 255, 255), -1);
line(src, ptMax1, ptMax2, Scalar(192, 192, 0), 2);
imshow("src", src);
waitKey();
#endif
if (flag == 2)
{
distance.push_back(sqrt(pow(ptMax1.x - ptMax2.x, 2) + pow(ptMax1.y - ptMax2.y, 2)));
}
else if (flag == 1)
{
points.pop_back();
}
}
else if (N == n)
{
for (int i = 0; i < imgSize.width; i++)
{
minMaxLoc(gray.col(i), &minVal, &maxVal, &ptMin1, &ptMax1);
if ((maxVal - minVal)>threshold)
{
flag++;
ptMax1.x = i;
//cout << "vertical left:" << endl;
//cout << "ptMax1=(" << ptMax1.x << ", " << ptMax1.y << ")" << endl;
//src.col(i) = Scalar(0, 0, 255);
//src.col(i - 1) = Scalar(0, 0, 255);
points.push_back(ptMax1);
goto left_label;
}
}
left_label:
#ifdef _SHOW_POINTS_
circle(src, ptMax1, 5, Scalar(0, 255, 255), -1);
imshow("src", src);
waitKey();
#endif
for (int i = gray.cols - 1; i >= 0; i--)
{
minMaxLoc(gray.col(i), &minVal, &maxVal, &ptMin2, &ptMax2);
if ((maxVal - minVal) > threshold)
{
flag++;
ptMax2.x = i;
//cout << "vertical right:" << endl;
//cout << "ptMax1=(" << ptMax2.x << ", " << ptMax2.y << ")" << endl;
points.push_back(ptMax2);
//src.col(i) = Scalar(0, 0, 255);
//src.col(i + 1) = Scalar(0, 0, 255);
goto right_label;
}
}
right_label:
#ifdef _SHOW_POINTS_
circle(src, ptMax2, 5, Scalar(0, 255, 255), -1);
line(src, ptMax1, ptMax2, Scalar(192, 192, 0), 2);
imshow("src", src);
waitKey();
#endif
if (flag == 2)
{
distance.push_back(sqrt(pow(ptMax1.x - ptMax2.x, 2) + pow(ptMax1.y - ptMax2.y, 2)));
}
else if (flag == 1)
{
points.pop_back();
}
}
else if (N < n&&n < 2 * N)
{
for (int i = 0; i < imgSize.width; i++)
{
for (int j = 0; j <= i; j++)
{
x = j;
y = imgSize.height - 1 - tan(theta)*(x - i);
Point ptCur(x, y);
if (!ptCur.inside(Rect(0, 0, imgSize.width, imgSize.height)))
{
continue;
}
uchar I = gray.at<uchar>(ptCur);
if (I > max1)
{
max1 = I;
ptMax1 = ptCur;
}
if (I < min1)
{
min1 = I;
}
if (abs(max1 - min1) > threshold)
{
flag++;
//cout << "jump outer3" << endl;
//cout << "ptMax1=(" << ptMax1.x << ", " << ptMax1.y << ")" << endl;
points.push_back(ptMax1);
//Point start, end;
//for (int k = 0; k <= i; k++)
//{
// x = k;
// y = imgSize.height - 1 - tan(theta)*(x - i);
// if (k == 0)
// {
// start = Point(x, y);
// }
// else if (k == i)
// {
// end = Point(x, y);
// }
//}
//line(src, start, end, Scalar(0, 0, 255), 2);
goto outer3;
}
}
}
outer3:
#ifdef _SHOW_POINTS_
circle(src, ptMax1, 5, Scalar(0, 255, 255), -1);
imshow("src", src);
waitKey();
#endif
for (int i = imgSize.width - 1 / 2; i >= 0; i--)
{
for (int j = i; j < imgSize.width; j++)
{
x = j;
y = -tan(theta)*(x - i);
Point ptCur(x, y);
if (!ptCur.inside(Rect(0, 0, imgSize.width, imgSize.height)))
{
continue;
}
uchar I = gray.at<uchar>(ptCur);
if (I > max2)
{
max2 = I;
ptMax2 = ptCur;
}
if (I < min2)
{
min2 = I;
}
if (abs(max2 - min2) > threshold)
{
flag++;
//cout << "jump outer4" << endl;
//cout << "ptMax2=(" << ptMax2.x << ", " << ptMax2.y << ")" << endl;
points.push_back(ptMax2);
/* Point start, end;
for (int k = i; k < imgSize.width; k++)
{
x = k;
y = -tan(theta)*(x - i);
if (k == i)
{
start = Point(x, y);
}
else if (k == imgSize.width - 1)
{
end = Point(x, y);
}
}
line(src, start, end, Scalar(0, 0, 255), 2);*/
goto outer4;
}
}
}
outer4:
;
#ifdef _SHOW_POINTS_
circle(src, ptMax2, 5, Scalar(0, 255, 255), -1);
line(src, ptMax1, ptMax2, Scalar(192, 192, 0), 2);
imshow("src", src);
waitKey();
#endif
if (flag == 2)
{
distance.push_back(sqrt(pow(ptMax1.x - ptMax2.x, 2) + pow(ptMax1.y - ptMax2.y, 2)));
}
else if (flag == 1)
{
points.pop_back();
}
}
else
{
cout << "The value of n is error!" << endl;
break;
}
}
//vector<Point>::iterator itero = points.begin();
//ofstream of("points.txt", ios::trunc | ios::out);
//while (itero != points.end())
//{
// of << (*itero).x << ", " << (*itero).y << endl;
// itero++;
//}
//of.close();
//find out validate points
double mean = 0;
vector<double>::iterator iter = distance.begin();
while (iter != distance.end())
{
mean += *iter;
iter++;
}
mean /= distance.size();
vector<Point> validPoints;
for (int i = 0; i < distance.size(); i++)
{
if (distance.at(i) < mean)
{
validPoints.push_back(points.at(2 * i));
validPoints.push_back(points.at(2 * i + 1));
}
}
//figure out the center and radius of the circle with Kasa method
if (!CircleFitByKasa(validPoints, center, radius))
{
cout << "Revisied LineScan Method Failed, Because the Circle Fit Method failed!" << endl;
return;
}
//#ifdef _DEBUG_
cout << "Use the Revised ScanLine Method:" << endl
<< "\tThe center is (" << center.x << ", "
<< center.y << ")" << endl
<< "\tThe radius is " << radius << endl;
circle(src, center, radius, Scalar(0, 0, 255), src.cols / 300);
circle(src, center, 5, Scalar(0, 255, 255), -1);
//namedWindow("Revised ScanLine Method Result", CV_WINDOW_AUTOSIZE);
//imshow("Revised ScanLine Method Result", src);
imshow(win_name, src);
//imwrite("Revised_Scan_ret.tiff", src);
//waitKey();
//#endif
}
