假设现在有一个点集,需要拟合出最能够表达点集轮廓的几条直线,并求直线之间的交点。
从点集中拟合直线可以采用的方法:随机抽样一致性(RANSAC),霍夫变换(though transform)
思路1
利用点斜式表达直线,然后求解两条直线组成的方程组。
{ y = k 1 ∗ x + b 1 y = k 2 ∗ x + b 2 \begin{cases} y = k1 * x + b1 \\ y = k2 * x + b2 \end{cases} {
y=k1∗x+b1y=k2∗x+b2
- 缺点
通过比较两条直线的斜率来判断两条直线是否平行,但是直线垂直时,斜率无穷大,无法比较两条直线。
/** @brief 计算直线的交点
@param lines 直线:Vec4d=(vx, vy, x0, y0), where (vx, vy) is a normalized vector collinear to the line and (x0, y0) is a point on the line.
@param crossPoints 保存直线的交点
@param mask 掩膜
*/
void crossPointsOfLines(std::vector<cv::Vec4d>& lines, std::vector<cv::Point2f> &crossPoints, int nPoints, cv::Mat& mask)
{
crossPoints.clear();
for (int i = 0; i < lines.size() && crossPoints.size() < nPoints; i++)
{
for (int j = i + 1; j < lines.size() && crossPoints.size() < nPoints; j++)
{
float ka = (float)lines.at(i)[1] / float(lines.at(i)[0] + 0.000001f);//slope of LineA
float kb = (float)lines.at(j)[1] / float(lines.at(j)[0] + 0.000001f);//slope of LineB
//if (std::abs(std::abs(ka) - std::abs(kb)) > 1.0) //two lines are not probably parallel
if ((std::abs(ka) > 1) && (std::abs(kb) < 1) || (std::abs(ka) < 1) && (std::abs(kb) > 1))//two lines are not probably parallel
{
cv::Point2d ptA(lines.at(i)[2], lines.at(i)[3]);
cv::Point2d ptB(lines.at(j)[2], lines.at(j)[3]);
cv::Point2f crossPoint;
crossPoint.x = float(ka*ptA.x - ptA.y - kb*ptB.x + ptB.y) / float(ka - kb);
crossPoint.y = float(ka*kb*(ptA.x - ptB.x) - kb*ptA.y + ka*ptB.y) / float(ka - kb);
crossPoints.push_back(crossPoint);
#ifdef _DEBUG
cv::circle(mask, crossPoint, 2, cv::Scalar(0, 0, 255), -1, cv::FILLED);
#endif
}
}
}
if (crossPoints.size() < nPoints){
LOG(ERROR) << type