Hough

优化霍夫变换加速直线检测
最新推荐文章于 2025-12-06 00:42:07 发布
原创 最新推荐文章于 2025-12-06 00:42:07 发布 · 531 阅读 · 0 ·
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#图像处理 

#define TABLE_HEAD              80
#define TABLE_HEAD_BIG          800

/*
    不用所有的点参与变换计算，可以抽出一半的点参与计算，那么速度又有很大提高！
*/

// [-80 , 81], step 0.1 .  zero offset -- 800 (table head)
const static LONG g_lTanTableBig[] = 
{
    -743346, -735834, -728467, -721242, -714155, -707201, -700377, -693678, -687103, -680647, 
    -674306, -668079, -661961, -655951, -650044, -644239, -638532, -632922, -627406, -621981, 
    -616645, -611396, -606232, -601150, -596149, -591227, -586382, -581612, -576915, -572290, 
    -567735, -563248, -558828, -554473, -550182, -545954, -541786, -537678, -533629, -529637, 
    -525701, -521819, -517991, -514215, -510491, -506817, -503193, -499616, -496087, -492604, 
    -489167, -485774, -482425, -479118, -475853, -472630, -469447, -466303, -463198, -460131, 
    -457102, -454109, -451152, -448231, -445344, -442491, -439672, -436885, -434131, -431408, 
    -428717, -426056, -423425, -420823, -418251, -415707, -413191, -410702, -408241, -405806, 
    -403398, -401015, -398657, -396325, -394016, -391732, -389472, -387235, -385021, -382829, 
    -380660, -378513, -376387, -374282, -372199, -370135, -368092, -366069, -364066, -362082, 
    -360117, -358171, -356243, -354333, -352441, -350567, -348711, -346871, -345049, -343243, 
    -341454, -339681, -337923, -336182, -334456, -332745, -331050, -329369, -327703, -326051, 
    -324414, -322791, -321182, -319586, -318004, -316435, -314880, -313337, -311807, -310290, 
    -308786, -307294, -305813, -304345, -302889, -301444, -300011, -298590, -297180, -295780, 
    -294392, -293015, -291648, -290292, -288946, -287611, -286286, -284970, -283665, -282370, 
    -281084, -279808, -278542, -277284, -276036, -274798, -273568, -272347, -271135, -269932, 
    -268737, -267551, -266373, -265204, -264042, -262889, -261744, -260607, -259478, -258357, 
    -257243, -256137, -255038, -253947, -252863, -251786, -250717, -249655, -248600, -247551, 
    -246510, -245476, -244448, -243427, -242412, -241404, -240403, -239407, -238419, -237436, 
    -236460, -235489, -234525, -233567, -232615, -231668, -230728, -229793, -228864, -227941, 
    -227023, -226111, -225204, -224302, -223406, -222516, -221630, -220750, -219875, -219005, 
    -218140, -217280, -216425, -215575, -214730, -213890, -213054, -212223, -211397, -210575, 
    -209759, -208946, -208138, -207335, -206536, -205741, -204951, -204165, -203383, -202606, 
    -201833, -201064, -200299, -199538, -198781, -198028, -197279, -196534, -195793, -195055, 
    -194322, -193592, -192866, -192144, -191425, -190710, -189999, -189292, -188587, -187887, 
    -187190, -186496, -185806, -185119, -184436, -183756, -183079, -182405, -181735, -181068, 
    -180405, -179744, -179087, -178432, -177781, -177133, -176488, -175846, -175207, -174571, 
    -173938, -173308, -172680, -172056, -171435, -170816, -170200, -169587, -168977, -168369, 
    -167764, -167162, -166562, -165965, -165371, -164780, -164191, -163604, -163020, -162439, 
    -161860, -161284, -160710, -160138, -159569, -159003, -158438, -157876, -157317, -156760, 
    -156205, -155653, -155102, -154554, -154009, -153465, -152924, -152385, -151848, -151313, 
    -150781, -150250, -149722, -149196, -148672, -148149, -147629, -147111, -146596, -146082, 
    -145570, -145060, -144552, -144046, -143542, -143039, -142539, -142041, -141544, -141050, 
    -140557, -140066, -139577, -139090, -138604, -138121, -137639, -137159, -136680, -136203, 
    -135729, -135255, -134784, -134314, -133846, -133379, -132915, -132451, -131990, -131530, 
    -131071, -130615, -130160, -129706, -129254, -128804, -128355, -127907, -127461, -127017, 
    -126574, -126133, -125693, -125255, -124818, -124382, -123948, -123516, -123084, -122655, 
    -122226, -121799, -121374, -120949, -120526, -120105, -119685, -119266, -118848, -118432, 
    -118017, -117604, -117191, -116780, -116371, -115962, -115555, -115149, -114744, -114341, 
    -113939, -113538, -113138, -112739, -112342, -111946, -111551, -111157, -110764, -110372, 
    -109982, -109593, -109205, -108818, -108432, -108047, -107663, -107281, -106899, -106519, 
    -106140, -105761, -105384, -105008, -104633, -104259, -103886, -103514, -103143, -102773, 
    -102404, -102036, -101669, -101303, -100939, -100575, -100212, -99850, -99489, -99128, 
    -98769, -98411, -98054, -97698, -97342, -96988, -96634, -96281, -95930, -95579, 
    -95229, -94880, -94532, -94184, -93838, -93492, -93148, -92804, -92461, -92118, 
    -91777, -91437, -91097, -90758, -90420, -90083, -89746, -89411, -89076, -88742, 
    -88409, -88076, -87745, -87414, -87084, -86754, -86426, -86098, -85771, -85444, 
    -85119, -84794, -84470, -84146, -83824, -83502, -83180, -82860, -82540, -82221, 
    -81902, -81585, -81268, -80951, -80636, -80321, -80006, -79693, -79380, -79067, 
    -78756, -78444, -78134, -77824, -77515, -77207, -76899, -76592, -76285, -75979, 
    -75674, -75369, -75065, -74762, -74459, -74156, -73855, -73554, -73253, -72953, 
    -72654, -72355, -72057, -71759, -71462, -71166, -70870, -70575, -70280, -69985, 
    -69692, -69399, -69106, -68814, -68522, -68231, -67941, -67651, -67361, -67072, 
    -66784, -66496, -66209, -65922, -65635, -65350, -65064, -64779, -64495, -64211, 
    -63928, -63645, -63362, -63080, -62799, -62518, -62237, -61957, -61677, -61398, 
    -61119, -60841, -60563, -60286, -60009, -59732, -59456, -59181, -58906, -58631, 
    -58357, -58083, -57809, -57536, -57263, -56991, -56719, -56448, -56177, -55906, 
    -55636, -55366, -55097, -54828, -54560, -54291, -54023, -53756, -53489, -53222, 
    -52956, -52690, -52425, -52159, -51895, -51630, -51366, -51102, -50839, -50576, 
    -50313, -50051, -49789, -49527, -49266, -49005, -48745, -48485, -48225, -47965, 
    -47706, -47447, -47188, -46930, -46672, -46415, -46157, -45900, -45644, -45387, 
    -45131, -44875, -44620, -44365, -44110, -43856, -43601, -43347, -43094, -42840, 
    -42587, -42335, -42082, -41830, -41578, -41326, -41075, -40824, -40573, -40323, 
    -40072, -39822, -39572, -39323, -39074, -38825, -38576, -38328, -38079, -37831, 
    -37584, -37336, -37089, -36842, -36595, -36349, -36103, -35857, -35611, -35365, 
    -35120, -34875, -34630, -34386, -34141, -33897, -33653, -33409, -33166, -32923, 
    -32679, -32437, -32194, -31951, -31709, -31467, -31225, -30984, -30742, -30501, 
    -30260, -30019, -29778, -29538, -29298, -29057, -28818, -28578, -28338, -28099, 
    -27860, -27621, -27382, -27143, -26905, -26666, -26428, -26190, -25952, -25715, 
    -25477, -25240, -25003, -24766, -24529, -24292, -24056, -23819, -23583, -23347, 
    -23111, -22875, -22640, -22404, -22169, -21933, -21698, -21463, -21229, -20994, 
    -20759, -20525, -20291, -20056, -19822, -19588, -19355, -19121, -18887, -18654, 
    -18420, -18187, -17954, -17721, -17488, -17255, -17023, -16790, -16558, -16325, 
    -16093, -15861, -15629, -15397, -15165, -14933, -14702, -14470, -14238, -14007, 
    -13776, -13544, -13313, -13082, -12851, -12620, -12389, -12159, -11928, -11697, 
    -11467, -11236, -11006, -10776, -10545, -10315, -10085, -9855, -9625, -9395, 
    -9165, -8935, -8705, -8476, -8246, -8016, -7787, -7557, -7328, -7098, 
    -6869, -6639, -6410, -6181, -5951, -5722, -5493, -5264, -5035, -4806, 
    -4577, -4348, -4119, -3890, -3661, -3432, -3203, -2974, -2745, -2516, 
    -2287, -2059, -1830, -1601, -1372, -1143, -915, -686, -457, -228, 

    0, 228, 457, 686, 915, 1143, 1372, 1601, 1830, 2059, 
    2287, 2516, 2745, 2974, 3203, 3432, 3661, 3890, 4119, 4348, 
    4577, 4806, 5035, 5264, 5493, 5722, 5951, 6181, 6410, 6639, 
    6869, 7098, 7328, 7557, 7787, 8016, 8246, 8476, 8705, 8935, 
    9165, 9395, 9625, 9855, 10085, 10315, 10545, 10776, 11006, 11236, 
    11467, 11697, 11928, 12159, 12389, 12620, 12851, 13082, 13313, 13544, 
    13776, 14007, 14238, 14470, 14702, 14933, 15165, 15397, 15629, 15861, 
    16093, 16325, 16558, 16790, 17023, 17255, 17488, 17721, 17954, 18187, 
    18420, 18654, 18887, 19121, 19355, 19588, 19822, 20056, 20291, 20525, 
    20759, 20994, 21229, 21463, 21698, 21933, 22169, 22404, 22640, 22875, 
    23111, 23347, 23583, 23819, 24056, 24292, 24529, 24766, 25003, 25240, 
    25477, 25715, 25952, 26190, 26428, 26666, 26905, 27143, 27382, 27621, 
    27860, 28099, 28338, 28578, 28818, 29057, 29298, 29538, 29778, 30019, 
    30260, 30501, 30742, 30984, 31225, 31467, 31709, 31951, 32194, 32437, 
    32679, 32923, 33166, 33409, 33653, 33897, 34141, 34386, 34630, 34875, 
    35120, 35365, 35611, 35857, 36103, 36349, 36595, 36842, 37089, 37336, 
    37584, 37831, 38079, 38328, 38576, 38825, 39074, 39323, 39572, 39822, 
    40072, 40323, 40573, 40824, 41075, 41326, 41578, 41830, 42082, 42335, 
    42587, 42840, 43094, 43347, 43601, 43856, 44110, 44365, 44620, 44875, 
    45131, 45387, 45644, 45900, 46157, 46415, 46672, 46930, 47188, 47447, 
    47706, 47965, 48225, 48485, 48745, 49005, 49266, 49527, 49789, 50051, 
    50313, 50576, 50839, 51102, 51366, 51630, 51895, 52159, 52425, 52690, 
    52956, 53222, 53489, 53756, 54023, 54291, 54560, 54828, 55097, 55366, 
    55636, 55906, 56177, 56448, 56719, 56991, 57263, 57536, 57809, 58083, 
    58357, 58631, 58906, 59181, 59456, 59732, 60009, 60286, 60563, 60841, 
    61119, 61398, 61677, 61957, 62237, 62518, 62799, 63080, 63362, 63645, 
    63928, 64211, 64495, 64779, 65064, 65350, 65635, 65922, 66209, 66496, 
    66784, 67072, 67361, 67651, 67941, 68231, 68522, 68814, 69106, 69399, 
    69692, 69985, 70280, 70575, 70870, 71166, 71462, 71759, 72057, 72355, 
    72654, 72953, 73253, 73554, 73855, 74156, 74459, 74762, 75065, 75369, 
    75674, 75979, 76285, 76592, 76899, 77207, 77515, 77824, 78134, 78444, 
    78756, 79067, 79380, 79693, 80006, 80321, 80636, 80951, 81268, 81585, 
    81902, 82221, 82540, 82860, 83180, 83502, 83824, 84146, 84470, 84794, 
    85119, 85444, 85771, 86098, 86426, 86754, 87084, 87414, 87745, 88076, 
    88409, 88742, 89076, 89411, 89746, 90083, 90420, 90758, 91097, 91437, 
    91777, 92118, 92461, 92804, 93148, 93492, 93838, 94184, 94532, 94880, 
    95229, 95579, 95930, 96281, 96634, 96988, 97342, 97698, 98054, 98411, 
    98769, 99128, 99489, 99850, 100212, 100575, 100939, 101303, 101669, 102036, 
    102404, 102773, 103143, 103514, 103886, 104259, 104633, 105008, 105384, 105761, 
    106140, 106519, 106899, 107281, 107663, 108047, 108432, 108818, 109205, 109593, 
    109982, 110372, 110764, 111157, 111551, 111946, 112342, 112739, 113138, 113538, 
    113939, 114341, 114744, 115149, 115555, 115962, 116371, 116780, 117191, 117604, 
    118017, 118432, 118848, 119266, 119685, 120105, 120526, 120949, 121374, 121799, 
    122226, 122655, 123084, 123516, 123948, 124382, 124818, 125255, 125693, 126133, 
    126574, 127017, 127461, 127907, 128355, 128804, 129254, 129706, 130160, 130615, 
    131071, 131530, 131990, 132451, 132915, 133379, 133846, 134314, 134784, 135255, 
    135729, 136203, 136680, 137159, 137639, 138121, 138604, 139090, 139577, 140066, 
    140557, 141050, 141544, 142041, 142539, 143039, 143542, 144046, 144552, 145060, 
    145570, 146082, 146596, 147111, 147629, 148149, 148672, 149196, 149722, 150250, 
    150781, 151313, 151848, 152385, 152924, 153465, 154009, 154554, 155102, 155653, 
    156205, 156760, 157317, 157876, 158438, 159003, 159569, 160138, 160710, 161284, 
    161860, 162439, 163020, 163604, 164191, 164780, 165371, 165965, 166562, 167162, 
    167764, 168369, 168977, 169587, 170200, 170816, 171435, 172056, 172680, 173308, 
    173938, 174571, 175207, 175846, 176488, 177133, 177781, 178432, 179087, 179744, 
    180405, 181068, 181735, 182405, 183079, 183756, 184436, 185119, 185806, 186496, 
    187190, 187887, 188587, 189292, 189999, 190710, 191425, 192144, 192866, 193592, 
    194322, 195055, 195793, 196534, 197279, 198028, 198781, 199538, 200299, 201064, 
    201833, 202606, 203383, 204165, 204951, 205741, 206536, 207335, 208138, 208946, 
    209759, 210575, 211397, 212223, 213054, 213890, 214730, 215575, 216425, 217280, 
    218140, 219005, 219875, 220750, 221630, 222516, 223406, 224302, 225204, 226111, 
    227023, 227941, 228864, 229793, 230728, 231668, 232615, 233567, 234525, 235489, 
    236460, 237436, 238419, 239407, 240403, 241404, 242412, 243427, 244448, 245476, 
    246510, 247551, 248600, 249655, 250717, 251786, 252863, 253947, 255038, 256137, 
    257243, 258357, 259478, 260607, 261744, 262889, 264042, 265204, 266373, 267551, 
    268737, 269932, 271135, 272347, 273568, 274798, 276036, 277284, 278542, 279808, 
    281084, 282370, 283665, 284970, 286286, 287611, 288946, 290292, 291648, 293015, 
    294392, 295780, 297180, 298590, 300011, 301444, 302889, 304345, 305813, 307294, 
    308786, 310290, 311807, 313337, 314880, 316435, 318004, 319586, 321182, 322791, 
    324414, 326051, 327703, 329369, 331050, 332745, 334456, 336182, 337923, 339681, 
    341454, 343243, 345049, 346871, 348711, 350567, 352441, 354333, 356243, 358171, 
    360117, 362082, 364066, 366069, 368092, 370135, 372199, 374282, 376387, 378513, 
    380660, 382829, 385021, 387235, 389472, 391732, 394016, 396325, 398657, 401015, 
    403398, 405806, 408241, 410702, 413191, 415707, 418251, 420823, 423425, 426056, 
    428717, 431408, 434131, 436885, 439672, 442491, 445344, 448231, 451152, 454109, 
    457102, 460131, 463198, 466303, 469447, 472630, 475853, 479118, 482425, 485774, 
    489167, 492604, 496087, 499616, 503193, 506817, 510491, 514215, 517991, 521819, 
    525701, 529637, 533629, 537678, 541786, 545954, 550182, 554473, 558828, 563248, 
    567735, 572290, 576915, 581612, 586382, 591227, 596149, 601150, 606232, 611396, 
    616645, 621981, 627406, 632922, 638532, 644239, 650044, 655951, 661961, 668079, 
    674306, 680647, 687103, 693678, 700377, 707201, 714155, 721242, 728467, 735834, 
    743346, 751008, 758825, 766802, 774944, 783255, 791741, 800408, 809262, 818309, 
    827556, 
};

/*
  HOUGH TRANSFORM GET LINE
  x * cos(theta) + y * sin(theta) = r
  theta: -Pi/2 ~ Pi/2
  for any point (x,y) on line, r and theta is constant.

  直线方程：y = k*x+b
  可以改进的地方：参数b可以更加精确，比如精确到0.1。
*/

static LONG getKB( LONG* plCounter, LONG lStepsOfB, LONG lStepsOfAngle, LONG* plAngleRet, LONG* plB )
{
    LONG j, lMax, lPos;

    lPos = 0;
    lMax = 0;
    for( j=0; j<lStepsOfAngle*lStepsOfB; j++ )
    {
        if( plCounter[j] > lMax )
        {
            lMax = plCounter[j];
            lPos = j;
        }
    }

    if( lMax < 3 )
        return 1;

    *plAngleRet = lPos/lStepsOfB;
    *plB = lPos%lStepsOfB;
    return 0;
}


/*
plParams:

  left, right, top, bottom
  Min angle: 角度*10
  Max angle: 角度*10
  angle step: 角度*10
  lPointNo: 参与变换的点数
  psPoints: 点 (SHORT*)
*/

// b = x - k * y 
LONG get_vertical_line( LONG* m_plCounter, LONG* plParams, LONG* plAngle, LONG* plB )
{
    LONG j, k, lOffset;
    LONG lMinB, lMaxB, lStepsOfB, lStepsOfAngle, lTemp;
    LONG *plTemp;
    LONG lReturn, lAngle, lB;
    LONG lMinAngle, lMaxAngle;
    SHORT *pEdge;

    // angle time 10
    lMinAngle = plParams[4];
    lMaxAngle = plParams[5];

    // b = x - k * y 
    if( lMinAngle>0 )
    {
        // left - tan(max_theta) * bottom;
        lMinB = plParams[0] - ((g_lTanTableBig[lMaxAngle+TABLE_HEAD_BIG]*plParams[3])>>17) -2;
        // right - tan(min_theta) * top;
        lMaxB = plParams[1] - ((g_lTanTableBig[lMinAngle+TABLE_HEAD_BIG]*plParams[2])>>17) +2;
    }
    else if( lMaxAngle<0 )
    {
        // left - tan(max_theta) * top
        lMinB = plParams[0] - ((g_lTanTableBig[lMaxAngle+TABLE_HEAD_BIG]*plParams[2])>>17) -2;
        // right - tan(min_theta) * bottom
        lMaxB = plParams[1] - ((g_lTanTableBig[lMinAngle+TABLE_HEAD_BIG]*plParams[3])>>17) +2;
    }
    else
    {
        // left - tan(max_theta) * bottom;
        lMinB = plParams[0] - ((g_lTanTableBig[lMaxAngle+TABLE_HEAD_BIG]*plParams[3])>>17) -2;
        // right - tan(min_theta) * bottom
        lMaxB = plParams[1] - ((g_lTanTableBig[lMinAngle+TABLE_HEAD_BIG]*plParams[3])>>17) +2;
    }

    lStepsOfB = lMaxB-lMinB;
    lStepsOfAngle = (lMaxAngle-lMinAngle+plParams[6]/2)/plParams[6];

    pEdge = (SHORT*)(plParams[8]);
    memset( m_plCounter, 0, sizeof(LONG)*lStepsOfAngle*lStepsOfB );
    for( j=0; j<plParams[7]; j++ )//j++ )
    {
        plTemp = m_plCounter;
        lOffset = lMinAngle+TABLE_HEAD_BIG;
        for( k=0; k<lStepsOfAngle; k++ )
        {
            // b = x - k * y 
            lTemp = pEdge[j*2]-((g_lTanTableBig[lOffset]*pEdge[j*2+1])>>17);
//          plTemp[lTemp-lMinB-2] += 1;
            plTemp[lTemp-lMinB-1] += 1;
            plTemp[lTemp-lMinB] += 1;
            plTemp[lTemp-lMinB+1] += 1;
//          plTemp[lTemp-lMinB+2] += 1;
            plTemp += lStepsOfB;
            lOffset += plParams[6];
        }
    }

    lReturn = getKB( m_plCounter, lStepsOfB, lStepsOfAngle, &lAngle, &lB );
    if( 0 != lReturn )
    {
        return -1;
    }
    else
    {
        *plAngle = lMinAngle+lAngle*plParams[6];
        *plB = lMinB+lB;
        return 0;
    }
}


/*
plParams:

  left, right, top, bottom
  Min angle: 角度*10
  Max angle: 角度*10
  angle step: 角度*10
  lPointNo: 参与变换的点数
  psPoints: 点 (SHORT*)
*/

// b = y - k * x 

LONG get_horizontal_line( LONG* m_plCounter, LONG* plParams, LONG* plAngle, LONG* plB )
{
    LONG j, k, lOffset;
    LONG lMinB, lMaxB, lStepsOfB, lStepsOfAngle, lTemp;
    LONG *plTemp;
    LONG lReturn, lAngle, lB;
    LONG lMinAngle, lMaxAngle;
    SHORT *pEdge;

    // angle time 10
    lMinAngle = plParams[4];
    lMaxAngle = plParams[5];

    // b = y - k * x 
    if( lMinAngle>0 )
    {
        // top - tan(max_theta) * right;
        lMinB = plParams[2] - ((g_lTanTableBig[lMaxAngle+TABLE_HEAD_BIG]*plParams[1])>>17) -2;
        // bottom - tan(min_theta) * left;
        lMaxB = plParams[3] - ((g_lTanTableBig[lMinAngle+TABLE_HEAD_BIG]*plParams[0])>>17) +2;
    }
    else if( lMaxAngle<0 )
    {
        // top - tan(max_theta) * left
        lMinB = plParams[2] - ((g_lTanTableBig[lMaxAngle+TABLE_HEAD_BIG]*plParams[0])>>17) -2;
        // bottom - tan(min_theta) * right
        lMaxB = plParams[3] - ((g_lTanTableBig[lMinAngle+TABLE_HEAD_BIG]*plParams[1])>>17) +2;
    }
    else
    {
        // top - tan(max_theta) * right;
        lMinB = plParams[2] - ((g_lTanTableBig[lMaxAngle+TABLE_HEAD_BIG]*plParams[1])>>17) -2;
        // bottom - tan(min_theta) * right
        lMaxB = plParams[3] - ((g_lTanTableBig[lMinAngle+TABLE_HEAD_BIG]*plParams[1])>>17) +2;
    }

    lStepsOfB = lMaxB-lMinB;
    lStepsOfAngle = (lMaxAngle-lMinAngle+plParams[6]/2)/plParams[6];

    pEdge = (SHORT*)(plParams[8]);
    memset( m_plCounter, 0, sizeof(LONG)*lStepsOfAngle*lStepsOfB );
    for( j=0; j<plParams[7]; j++ )
    {
        plTemp = m_plCounter;
        lOffset = lMinAngle+TABLE_HEAD_BIG;
        for( k=0; k<lStepsOfAngle; k++ )
        {
            // b = y - k * x 
            lTemp = pEdge[j*2+1]-((g_lTanTableBig[lOffset]*pEdge[j*2])>>17);
//          plTemp[lTemp-lMinB-2] += 1;
            plTemp[lTemp-lMinB-1] += 1;
            plTemp[lTemp-lMinB] += 1;
            plTemp[lTemp-lMinB+1] += 1;
//          plTemp[lTemp-lMinB+2] += 1;
            plTemp += lStepsOfB;
            lOffset += plParams[6];
        }
    }

    lReturn = getKB( m_plCounter, lStepsOfB, lStepsOfAngle, &lAngle, &lB );
    if( 0 != lReturn )
    {
        return -1;
    }
    else
    {
        *plAngle = lMinAngle+lAngle*plParams[6];
        *plB = lMinB+lB;
        return 0;
    }
}
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