图像处理之霍夫变换圆检测算法
之前写过一篇文章讲述霍夫变换原理与利用霍夫变换检测直线, 结果发现访问量还是蛮
多,有点超出我的意料,很多人都留言说代码写得不好,没有注释,结构也不是很清晰,所以
我萌发了再写一篇,介绍霍夫变换圆检测算法,同时也尽量的加上详细的注释,介绍代码
结构.让更多的人能够读懂与理解.
一:霍夫变换检测圆的数学原理
根据极坐标,圆上任意一点的坐标可以表示为如上形式, 所以对于任意一个圆, 假设
中心像素点p(x0, y0)像素点已知, 圆半径已知,则旋转360由极坐标方程可以得到每
个点上得坐标同样,如果只是知道图像上像素点, 圆半径,旋转360°则中心点处的坐
标值必定最强.这正是霍夫变换检测圆的数学原理.
二:算法流程
该算法大致可以分为以下几个步骤
三:运行效果
图像从空间坐标变换到极坐标效果, 最亮一点为圆心.
图像从极坐标变换回到空间坐标,检测结果显示:
四:关键代码解析
个人觉得这次注释已经是非常的详细啦,而且我写的还是中文注释
- /**
- * 霍夫变换处理 - 检测半径大小符合的圆的个数
- * 1. 将图像像素从2D空间坐标转换到极坐标空间
- * 2. 在极坐标空间中归一化各个点强度,使之在0〜255之间
- * 3. 根据极坐标的R值与输入参数(圆的半径)相等,寻找2D空间的像素点
- * 4. 对找出的空间像素点赋予结果颜色(红色)
- * 5. 返回结果2D空间像素集合
- * @return int []
- */
- public int[] process() {
- // 对于圆的极坐标变换来说,我们需要360度的空间梯度叠加值
- acc = new int[width * height];
- for (int y = 0; y < height; y++) {
- for (int x = 0; x < width; x++) {
- acc[y * width + x] = 0;
- }
- }
- int x0, y0;
- double t;
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- if ((input[y * width + x] & 0xff) == 255) {
- for (int theta = 0; theta < 360; theta++) {
- t = (theta * 3.14159265) / 180; // 角度值0 ~ 2*PI
- x0 = (int) Math.round(x - r * Math.cos(t));
- y0 = (int) Math.round(y - r * Math.sin(t));
- if (x0 < width && x0 > 0 && y0 < height && y0 > 0) {
- acc[x0 + (y0 * width)] += 1;
- }
- }
- }
- }
- }
- // now normalise to 255 and put in format for a pixel array
- int max = 0;
- // Find max acc value
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- if (acc[x + (y * width)] > max) {
- max = acc[x + (y * width)];
- }
- }
- }
- // 根据最大值,实现极坐标空间的灰度值归一化处理
- int value;
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- value = (int) (((double) acc[x + (y * width)] / (double) max) * 255.0);
- acc[x + (y * width)] = 0xff000000 | (value << 16 | value << 8 | value);
- }
- }
- // 绘制发现的圆
- findMaxima();
- System.out.println("done");
- return output;
- }
- package com.gloomyfish.image.transform.hough;
- /***
- *
- * 传入的图像为二值图像,背景为黑色,目标前景颜色为为白色
- * @author gloomyfish
- *
- */
- public class CircleHough {
- private int[] input;
- private int[] output;
- private int width;
- private int height;
- private int[] acc;
- private int accSize = 1;
- private int[] results;
- private int r; // 圆周的半径大小
- public CircleHough() {
- System.out.println("Hough Circle Detection...");
- }
- public void init(int[] inputIn, int widthIn, int heightIn, int radius) {
- r = radius;
- width = widthIn;
- height = heightIn;
- input = new int[width * height];
- output = new int[width * height];
- input = inputIn;
- for (int y = 0; y < height; y++) {
- for (int x = 0; x < width; x++) {
- output[x + (width * y)] = 0xff000000; //默认图像背景颜色为黑色
- }
- }
- }
- public void setCircles(int circles) {
- accSize = circles; // 检测的个数
- }
- /**
- * 霍夫变换处理 - 检测半径大小符合的圆的个数
- * 1. 将图像像素从2D空间坐标转换到极坐标空间
- * 2. 在极坐标空间中归一化各个点强度,使之在0〜255之间
- * 3. 根据极坐标的R值与输入参数(圆的半径)相等,寻找2D空间的像素点
- * 4. 对找出的空间像素点赋予结果颜色(红色)
- * 5. 返回结果2D空间像素集合
- * @return int []
- */
- public int[] process() {
- // 对于圆的极坐标变换来说,我们需要360度的空间梯度叠加值
- acc = new int[width * height];
- for (int y = 0; y < height; y++) {
- for (int x = 0; x < width; x++) {
- acc[y * width + x] = 0;
- }
- }
- int x0, y0;
- double t;
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- if ((input[y * width + x] & 0xff) == 255) {
- for (int theta = 0; theta < 360; theta++) {
- t = (theta * 3.14159265) / 180; // 角度值0 ~ 2*PI
- x0 = (int) Math.round(x - r * Math.cos(t));
- y0 = (int) Math.round(y - r * Math.sin(t));
- if (x0 < width && x0 > 0 && y0 < height && y0 > 0) {
- acc[x0 + (y0 * width)] += 1;
- }
- }
- }
- }
- }
- // now normalise to 255 and put in format for a pixel array
- int max = 0;
- // Find max acc value
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- if (acc[x + (y * width)] > max) {
- max = acc[x + (y * width)];
- }
- }
- }
- // 根据最大值,实现极坐标空间的灰度值归一化处理
- int value;
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- value = (int) (((double) acc[x + (y * width)] / (double) max) * 255.0);
- acc[x + (y * width)] = 0xff000000 | (value << 16 | value << 8 | value);
- }
- }
- // 绘制发现的圆
- findMaxima();
- System.out.println("done");
- return output;
- }
- private int[] findMaxima() {
- results = new int[accSize * 3];
- int[] output = new int[width * height];
- // 获取最大的前accSize个值
- for (int x = 0; x < width; x++) {
- for (int y = 0; y < height; y++) {
- int value = (acc[x + (y * width)] & 0xff);
- // if its higher than lowest value add it and then sort
- if (value > results[(accSize - 1) * 3]) {
- // add to bottom of array
- results[(accSize - 1) * 3] = value; //像素值
- results[(accSize - 1) * 3 + 1] = x; // 坐标X
- results[(accSize - 1) * 3 + 2] = y; // 坐标Y
- // shift up until its in right place
- int i = (accSize - 2) * 3;
- while ((i >= 0) && (results[i + 3] > results[i])) {
- for (int j = 0; j < 3; j++) {
- int temp = results[i + j];
- results[i + j] = results[i + 3 + j];
- results[i + 3 + j] = temp;
- }
- i = i - 3;
- if (i < 0)
- break;
- }
- }
- }
- }
- // 根据找到的半径R,中心点像素坐标p(x, y),绘制圆在原图像上
- System.out.println("top " + accSize + " matches:");
- for (int i = accSize - 1; i >= 0; i--) {
- drawCircle(results[i * 3], results[i * 3 + 1], results[i * 3 + 2]);
- }
- return output;
- }
- private void setPixel(int value, int xPos, int yPos) {
- /// output[(yPos * width) + xPos] = 0xff000000 | (value << 16 | value << 8 | value);
- output[(yPos * width) + xPos] = 0xffff0000;
- }
- // draw circle at x y
- private void drawCircle(int pix, int xCenter, int yCenter) {
- pix = 250; // 颜色值,默认为白色
- int x, y, r2;
- int radius = r;
- r2 = r * r;
- // 绘制圆的上下左右四个点
- setPixel(pix, xCenter, yCenter + radius);
- setPixel(pix, xCenter, yCenter - radius);
- setPixel(pix, xCenter + radius, yCenter);
- setPixel(pix, xCenter - radius, yCenter);
- y = radius;
- x = 1;
- y = (int) (Math.sqrt(r2 - 1) + 0.5);
- // 边缘填充算法, 其实可以直接对循环所有像素,计算到做中心点距离来做
- // 这个方法是别人写的,发现超赞,超好!
- while (x < y) {
- setPixel(pix, xCenter + x, yCenter + y);
- setPixel(pix, xCenter + x, yCenter - y);
- setPixel(pix, xCenter - x, yCenter + y);
- setPixel(pix, xCenter - x, yCenter - y);
- setPixel(pix, xCenter + y, yCenter + x);
- setPixel(pix, xCenter + y, yCenter - x);
- setPixel(pix, xCenter - y, yCenter + x);
- setPixel(pix, xCenter - y, yCenter - x);
- x += 1;
- y = (int) (Math.sqrt(r2 - x * x) + 0.5);
- }
- if (x == y) {
- setPixel(pix, xCenter + x, yCenter + y);
- setPixel(pix, xCenter + x, yCenter - y);
- setPixel(pix, xCenter - x, yCenter + y);
- setPixel(pix, xCenter - x, yCenter - y);
- }
- }
- public int[] getAcc() {
- return acc;
- }
- }
- package com.gloomyfish.image.transform.hough;
- import java.awt.BorderLayout;
- import java.awt.Color;
- import java.awt.Dimension;
- import java.awt.FlowLayout;
- import java.awt.Graphics;
- import java.awt.Graphics2D;
- import java.awt.GridLayout;
- import java.awt.event.ActionEvent;
- import java.awt.event.ActionListener;
- import java.awt.image.BufferedImage;
- import java.io.File;
- import javax.imageio.ImageIO;
- import javax.swing.BorderFactory;
- import javax.swing.JButton;
- import javax.swing.JFrame;
- import javax.swing.JPanel;
- import javax.swing.JSlider;
- import javax.swing.event.ChangeEvent;
- import javax.swing.event.ChangeListener;
- public class HoughUI extends JFrame implements ActionListener, ChangeListener {
- /**
- *
- */
- public static final String CMD_LINE = "Line Detection";
- public static final String CMD_CIRCLE = "Circle Detection";
- private static final long serialVersionUID = 1L;
- private BufferedImage sourceImage;
- // private BufferedImage houghImage;
- private BufferedImage resultImage;
- private JButton lineBtn;
- private JButton circleBtn;
- private JSlider radiusSlider;
- private JSlider numberSlider;
- public HoughUI(String imagePath)
- {
- super("GloomyFish-Image Process Demo");
- try{
- File file = new File(imagePath);
- sourceImage = ImageIO.read(file);
- } catch(Exception e){
- e.printStackTrace();
- }
- initComponent();
- }
- private void initComponent() {
- int RADIUS_MIN = 1;
- int RADIUS_INIT = 1;
- int RADIUS_MAX = 51;
- lineBtn = new JButton(CMD_LINE);
- circleBtn = new JButton(CMD_CIRCLE);
- radiusSlider = new JSlider(JSlider.HORIZONTAL, RADIUS_MIN, RADIUS_MAX, RADIUS_INIT);
- radiusSlider.setMajorTickSpacing(10);
- radiusSlider.setMinorTickSpacing(1);
- radiusSlider.setPaintTicks(true);
- radiusSlider.setPaintLabels(true);
- numberSlider = new JSlider(JSlider.HORIZONTAL, RADIUS_MIN, RADIUS_MAX, RADIUS_INIT);
- numberSlider.setMajorTickSpacing(10);
- numberSlider.setMinorTickSpacing(1);
- numberSlider.setPaintTicks(true);
- numberSlider.setPaintLabels(true);
- JPanel sliderPanel = new JPanel();
- sliderPanel.setLayout(new GridLayout(1, 2));
- sliderPanel.setBorder(BorderFactory.createTitledBorder("Settings:"));
- sliderPanel.add(radiusSlider);
- sliderPanel.add(numberSlider);
- JPanel btnPanel = new JPanel();
- btnPanel.setLayout(new FlowLayout(FlowLayout.RIGHT));
- btnPanel.add(lineBtn);
- btnPanel.add(circleBtn);
- JPanel imagePanel = new JPanel(){
- private static final long serialVersionUID = 1L;
- protected void paintComponent(Graphics g) {
- if(sourceImage != null)
- {
- Graphics2D g2 = (Graphics2D) g;
- g2.drawImage(sourceImage, 10, 10, sourceImage.getWidth(), sourceImage.getHeight(),null);
- g2.setPaint(Color.BLUE);
- g2.drawString("原图", 10, sourceImage.getHeight() + 30);
- if(resultImage != null)
- {
- g2.drawImage(resultImage, resultImage.getWidth() + 20, 10, resultImage.getWidth(), resultImage.getHeight(), null);
- g2.drawString("最终结果,红色是检测结果", resultImage.getWidth() + 40, sourceImage.getHeight() + 30);
- }
- }
- }
- };
- this.getContentPane().setLayout(new BorderLayout());
- this.getContentPane().add(sliderPanel, BorderLayout.NORTH);
- this.getContentPane().add(btnPanel, BorderLayout.SOUTH);
- this.getContentPane().add(imagePanel, BorderLayout.CENTER);
- // setup listener
- this.lineBtn.addActionListener(this);
- this.circleBtn.addActionListener(this);
- this.numberSlider.addChangeListener(this);
- this.radiusSlider.addChangeListener(this);
- }
- public static void main(String[] args)
- {
- String filePath = System.getProperty ("user.home") + "/Desktop/" + "zhigang/hough-test.png";
- HoughUI frame = new HoughUI(filePath);
- // HoughUI frame = new HoughUI("D:\\image-test\\lines.png");
- frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
- frame.setPreferredSize(new Dimension(800, 600));
- frame.pack();
- frame.setVisible(true);
- }
- @Override
- public void actionPerformed(ActionEvent e) {
- if(e.getActionCommand().equals(CMD_LINE))
- {
- HoughFilter filter = new HoughFilter(HoughFilter.LINE_TYPE);
- resultImage = filter.filter(sourceImage, null);
- this.repaint();
- }
- else if(e.getActionCommand().equals(CMD_CIRCLE))
- {
- HoughFilter filter = new HoughFilter(HoughFilter.CIRCLE_TYPE);
- resultImage = filter.filter(sourceImage, null);
- // resultImage = filter.getHoughSpaceImage(sourceImage, null);
- this.repaint();
- }
- }
- @Override
- public void stateChanged(ChangeEvent e) {
- // TODO Auto-generated method stub
- }
- }
使用霍夫变换检测圆与直线时候,一定要对图像进行预处理,灰度化以后,提取
图像的边缘使用非最大信号压制得到一个像素宽的边缘, 这个步骤对霍夫变
换非常重要.否则可能导致霍夫变换检测的严重失真.
第一次用Mac发博文,编辑不好请见谅!