1. #include "opencv2/opencv.hpp"
2. #include <iostream>
3. #include "opencv2/imgcodecs.hpp"
4. #include "opencv2/highgui.hpp"
5. #include "opencv2/imgproc.hpp"
6. #include <chrono>
7. using namespace std::chrono;
8. using namespace std;
9. using namespace cv;
10. void polarToCartesian(double rhoo, int thot, Point& p1, Point& p2);
11. void polarToCartesian1(double rhoo2, int thot2, Point& p3, Point& p4);
12. bool sobelEdge(const cv::Mat image, cv::Mat& result, uchar threshold);
13. int main() {
14.  
15.     Mat inputImage = imread("f000901.png");
16.     imshow("Display Image", inputImage);
17.    // Mat inputImage1 = imread("prestrojavanje00221_9.png");
18.   //  imshow("Display Image", inputImage1);
19.     /*
20.     */
21.     Mat frame1, mask1, mask2, res, res1, res2, sobelh, tmp, sobelv, absobelh, absobelv, canny, sobel, sobel2, sobel3; //1600
22.     double theta1 = 0, temp1 = 0, temp2 = 0, rhoo = 0, rhoo2 = 0;
23.     uchar pixel_value2 = 0;
24.     uchar pixel_value3 = 0;
25.     vector<vector<int>> votes(856, vector<int>(180, 0));
26.     int rho = 0, naj = votes[0][0], naj2 = votes[0][0], thot = 0, thot2 = 0, tw = 180, thh = 856;
27.     //cout << "height" << frame.;
28.    // cout << "width" << endl;
29.    // transpose(frame, frame);
30.   //  flip(frame, frame, +1);
31.     auto start = high_resolution_clock::now();
32.     Rect region_of_interest = Rect(140, 170, 360, 180);;//ROI 75, 170, 490, 200  g    40, 245, 410, 120
33.     Mat image_roi = inputImage(region_of_interest);// roi na sliku za hsv i filtriranje
34.     Mat image_roi1 = inputImage(region_of_interest); // roi na sliku za cannya
35.     cvtColor(image_roi1, image_roi1, cv::COLOR_BGR2GRAY);
36.     GaussianBlur(image_roi1, image_roi1, Size(3, 3), 0);
37.     cvtColor(image_roi, image_roi, cv::COLOR_BGR2HSV);
38.     Scalar lowerby = Scalar(15, 30, 50);
39.     Scalar upperby = Scalar(45, 255, 255);
40.     Scalar lowerbw = Scalar(0, 0, 100); // 0 0 100
41.     Scalar upperbw = Scalar(150, 150, 255); // 150 150 255
42.     inRange(image_roi, lowerby, upperby, mask1);
43.     inRange(image_roi, lowerbw, upperbw, mask2);
44.     //imshow("res", image_roi);
45.     res = mask1 + mask2;
46.     //res = mask2;
47.     imshow("res", res);
48.     image_roi1.copyTo(sobel);
49.     sobelEdge(image_roi1, sobel, 255);
50.     inRange(sobel, 180, 256, sobel);
51.     imshow("sobel", sobel);
52.     bitwise_and(res, res, tmp, sobel); // spajanje slika
53.     imshow("fusion", tmp);// spojena slika
54.     //Rect region_of_interest = Rect(140, 170, 360, 180);;//ROI 75, 170, 490, 200
55.     //Mat image_roi = frame(region_of_interest);// roi na sliku za hsv i filtriranje
56.     //Mat image_roi1 = frame(region_of_interest); // roi na sliku za cannya
57.     for (int rows = 0; rows < tmp.rows; rows++)
58.     {
59.         for (int cols = 0; cols < tmp.cols; cols++)
60.         {
61.             pixel_value2 = (int)tmp.at<unsigned char>(rows, cols);
62.             if (pixel_value2 > 0)
63.             {
64.                 for (int theta = 0; theta < tw; theta++)
65.                 {
66.                     if (theta > 20 && 160 > theta) // 42 138
67.                     {
68.                         theta1 = (((double)theta - 90.0) * 3.1415) / 180.0;
69.                         temp1 = cos(theta1);
70.                         temp2 = sin(theta1);
71.                         rho = cvRound(cols * temp1 + rows * temp2 + 428);
72.                         if (rho > 480 && rho < 721)
73.                             votes[rho][theta]++;
74.                     }
75.  
76.                 }
77.             }
78.         }
79.     }
80.     for (int i = 0; i < thh; i += 2)
81.     {
82.         for (int theta = 0; theta < tw; theta += 2)
83.         {
84.             if (votes[i][theta] > naj && votes[i][theta] >= 40) /*&& theta > 46 &&  60> theta  && votes[i][theta]>=15*/
85.             {
86.                 naj = votes[i][theta];
87.                 rhoo = i - 428.0;
88.                 thot = theta;
89.  
90.             }
91.         }
92.     }
93.     for (int i = 0; i < thh; i += 2)
94.     {
95.         for (int theta = 0; theta < tw; theta += 2)
96.         {
97.             if (votes[i][theta] > naj2 && votes[i][theta] != naj && abs(thot - theta) > 40 && abs(thot - theta) < 110 && votes[i][theta] >= 40)/*theta > 110 && 138 > theta && votes[i][theta] >= 15*/
98.             {
99.                 naj2 = votes[i][theta];
100.                 rhoo2 = i - 428.0;
101.                 thot2 = theta;
102.             }
103.         }
104.     }
105.     Point p1, p2;
106.     Point p3, p4;
107.     if (thot >= 92 && 104 >= thot || thot2 >= 92 && 104 >= thot2)
108.     {
109.         if (rhoo > 159 && 263 > rhoo || rhoo2 >= 159 && 263 >= rhoo2)
110.             printf("prestrojavanje\n");
111.         //  printf("rho %lf\n", rhoo);
112.          // printf("theta %d\n", thot);
113.        //   printf("rho2 %lf\n", rhoo2);
114.        //  printf("theta2 %d\n", thot2);
115.  
116.  
117.     }
118.     printf("rho %lf\n", rhoo);
119.     printf("theta %d\n", thot);
120.     printf("rho2 %lf\n", rhoo2);
121.     printf("theta2 %d\n", thot2);
122.     polarToCartesian(rhoo, thot, p1, p2);
123.     polarToCartesian1(rhoo2, thot2, p3, p4);
124.     //printf("naj %d", naj);
125.     //printf("naj2 %d", naj2);
126.     line(tmp, p1, p2, Scalar(255, 255, 0), 3, LINE_AA);
127.     line(tmp, p3, p4, Scalar(255, 255, 0), 3, LINE_AA);
128.      auto stop = high_resolution_clock::now();
129.     imshow("output", tmp);
130.     imwrite("f000901 - output40.jpg", tmp);
131.     waitKey();
132.     // return 0;
133.     auto duration = duration_cast<milliseconds>(stop - start);
134.  
135.     // To get the value of duration use the count()
136.     // member function on the duration object
137.     cout << duration.count() << endl;
138.  
139.    // imshow("Frame2", image_roi1);
140.  //   imshow("Frame3", image_roi);
141.     // Display the resulting frame
142.    // imshow("Frame", frame);
143.     //imshow("Fram2e", image_roi);
144.     // Press  ESC on keyboard to exit
145.  
146.  
147. // When everything done, release the video capture object
148.  
149.  
150. // Closes all the frames
151.  
152.  
153.     return 0;
154. }
155. void polarToCartesian(double rhoo, int thot, Point& p1, Point& p2) {
156.     double thot1 = 0.0;
157.     thot1 = (((double)thot - 90) * 3.1415) / 180.0;
158.     int x0 = cvRound(rhoo * cos(thot1));
159.     int y0 = cvRound(rhoo * sin(thot1));
160.     p1.x = cvRound(x0 + 1000 * (-sin(thot1)));
161.     p1.y = cvRound(y0 + 1000 * (cos(thot1)));
162.     p2.x = cvRound(x0 - 1000 * (-sin(thot1)));
163.     p2.y = cvRound(y0 - 1000 * (cos(thot1)));
164. }
165. void polarToCartesian1(double rhoo2, int thot2, Point& p3, Point& p4) {
166.     double thot4 = 0.0;
167.     thot4 = (((double)thot2 - 90) * 3.1415) / 180.0;
168.     int x0 = cvRound(rhoo2 * cos(thot4));
169.     int y0 = cvRound(rhoo2 * sin(thot4));
170.     p3.x = cvRound(x0 + 1000 * (-sin(thot4)));
171.     p3.y = cvRound(y0 + 1000 * (cos(thot4)));
172.     p4.x = cvRound(x0 - 1000 * (-sin(thot4)));
173.     p4.y = cvRound(y0 - 1000 * (cos(thot4)));
174. }
175.  
176.  
177.  
178. bool sobelEdge(const cv::Mat image, cv::Mat& result, uchar threshold)
179. {
180.     CV_Assert(image.channels() == 1);
181.  
182.     cv::Mat sobelx = (cv::Mat_<float>(3, 3) << 1, 0, -1, 2, 0, -2, 1, 0, -1);
183.     cv::Mat sobely = (cv::Mat_<float>(3, 3) << 1, 2, 1, 0, 0, 0, -1, -2, -1);
184.  
185.     result = cv::Mat::zeros(image.rows, image.cols, image.type());
186.     double graMag = 0;
187.  
188.     for (int i = 1; i < image.rows - 1; i++)
189.     {
190.         for (int j = 1; j < image.cols - 1; j++)
191.         {
192.             float edgex = 0, edgey = 0;
193.  
194.             for (int k = -1; k < 2; k++)
195.             {
196.                 for (int p = -1; p < 2; p++)
197.                 {
198.                     edgex += (float)image.at<uchar>(k + i, p + j) * sobelx.at<float>(1 + k, 1 + p);
199.                     edgey += (float)image.at<uchar>(k + i, p + j) * sobely.at<float>(1 + k, 1 + p);
200.                 }
201.             }
202.             graMag = sqrt(pow(edgex, 2) + pow(edgey, 2));
203.  
204.             if (graMag > 255)
205.                 graMag = 255;
206.             result.at<uchar>(i - 1, j - 1) = (uchar)graMag;
207.         }
208.     }
209.  
210.      //imshow("ggg", result);
211.     return true;
212. }