bool HoughLine::adjust(EdgeList& edges, const AdjustParams& p, bool capture)
{
float uHistogram[UHistSize];
LineFit fit;
if (capture)
for (int i = 0; i < UHistSize; ++i)
uHistogram[i] = 0;
int lineAngle = binaryAngle();
// The angle range to consider is derived from the angle fuzzy threshold
int angleLimit = (int)ceil(p.angleThr.t1() * 128 / M_PI);
members = 0;
// Consider all edges at an angle similar to this line
for (int bin = lineAngle - angleLimit; bin <= lineAngle + angleLimit; ++bin)
for (Edge* e = edges.binList(bin); e; e = e->next())
if (!e->memberOf())
{
float angle = (float)diffRadians(e->radians(), t());
double x = e->x();
double y = e->y();
float distance = (float)fabs(pDist(x, y));
float w = (angle < p.angleThr & distance < p.distanceThr & (float)e->mag() > p.magnitudeThr).f();
if (w > 0)
{
if (capture)
{
double q = qDist(x, y);
uAdd(q, w, uHistogram);
}
fit.add(w, x, y);
}
if (capture && w > 0.5)
{
e->memberOf(this);
e->nextMember(members);
members = e;
}
}
_score = fit.area();
if (score() < p.scoreThreshold || (p.fitThresold >= 0 && fit.rmsError() > p.fitThresold))
{
for (Edge* e = members; e; e = e->nextMember())
e->memberOf(0);
return false;
}
_fitError = fit.rmsError();
if (capture)
{
// Find first endpoint
float tw = 0;
double u0 = 0, u1 = 0;
for (int i = 0; i < UHistSize; ++i)
{
tw += uHistogram[i];
if (tw >= p.lineEndWeight)
{
u0 = uBin(i) - p.lineEndWeight;
break;
}
}
// Find second endpoint
tw = 0;
for (int i = UHistSize - 1; i >= 0; --i)
{
tw += uHistogram[i];
if (tw >= p.lineEndWeight)
{
u1 = uBin(i) + p.lineEndWeight;
break;
}
}
setEndPoints(u0, u1);
}
// Adjust (R,T)
r(fit.centerX() * fit.secondPrinciaplAxisU() + fit.centerY() * fit.secondPrinciaplAxisV());
if (ux() * fit.secondPrinciaplAxisU() + uy() * fit.secondPrinciaplAxisV() >= 0)
setUnitVec(fit.secondPrinciaplAxisU(), fit.secondPrinciaplAxisV());
else
{
setUnitVec(-fit.secondPrinciaplAxisU(), -fit.secondPrinciaplAxisV());
r(-r());
}
return true;
}
