167 lines
7.2 KiB
Python
167 lines
7.2 KiB
Python
import numpy as np
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import cv2
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def _are_lines_mergeable(line1_pts, line2_pts,
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max_angle_diff_deg,
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max_ep_gap_abs, max_ep_gap_factor,
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max_p_dist_abs, max_p_dist_factor):
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"""
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判断两条线段是否可以合并。
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lineX_pts: [x1, y1, x2, y2]
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max_angle_diff_deg: 最大角度差 (度)
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max_ep_gap_abs: 端点间最大绝对间隙
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max_ep_gap_factor: 端点间最大相对间隙 (基于较短线段长度的因子)
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max_p_dist_abs: 最大绝对垂直距离
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max_p_dist_factor: 最大相对垂直距离 (基于较短线段长度的因子)
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"""
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x1a, y1a, x2a, y2a = line1_pts
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x1b, y1b, x2b, y2b = line2_pts
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p1a, p2a = np.array([x1a, y1a]), np.array([x2a, y2a])
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p1b, p2b = np.array([x1b, y1b]), np.array([x2b, y2b])
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len_a = np.linalg.norm(p2a - p1a)
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len_b = np.linalg.norm(p2b - p1b)
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if len_a < 1e-3 or len_b < 1e-3: return False # 避免零长度线段
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shorter_len = min(len_a, len_b)
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# 1. 角度相似性
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angle_a = np.arctan2(y2a - y1a, x2a - x1a)
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angle_b = np.arctan2(y2b - y1b, x2b - x1b)
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angle_diff = np.degrees(angle_a - angle_b)
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while angle_diff <= -180: angle_diff += 360
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while angle_diff > 180: angle_diff -= 360
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is_angle_similar = abs(angle_diff) < max_angle_diff_deg or \
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abs(abs(angle_diff) - 180) < max_angle_diff_deg
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if not is_angle_similar:
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return False
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# 2. 共线性: 检查一个线段的端点到另一个线段（无限延长）的垂直距离
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current_max_allowed_perp_dist = max(max_p_dist_abs, max_p_dist_factor * shorter_len)
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def get_perp_dist_point_to_inf_line(p, line_p1, line_p2, line_len):
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if line_len < 1e-3: return np.linalg.norm(p - line_p1) # 线是点
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return abs((line_p2[1]-line_p1[1])*p[0] - (line_p2[0]-line_p1[0])*p[1] + \
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line_p2[0]*line_p1[1] - line_p2[1]*line_p1[0]) / line_len
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dist_b1_to_a_inf = get_perp_dist_point_to_inf_line(p1b, p1a, p2a, len_a)
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dist_b2_to_a_inf = get_perp_dist_point_to_inf_line(p2b, p1a, p2a, len_a)
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dist_a1_to_b_inf = get_perp_dist_point_to_inf_line(p1a, p1b, p2b, len_b)
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dist_a2_to_b_inf = get_perp_dist_point_to_inf_line(p2a, p1b, p2b, len_b)
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# 如果两条线都很短，那么允许的垂直距离也应该小
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# 如果一条线的端点离另一条无限延长的线太远，则不合并
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if min(dist_b1_to_a_inf, dist_b2_to_a_inf) > current_max_allowed_perp_dist and \
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min(dist_a1_to_b_inf, dist_a2_to_b_inf) > current_max_allowed_perp_dist:
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return False
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# 3. 邻近性/重叠性: 端点之间的最小距离
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min_ep_dist = min(np.linalg.norm(p1a-p1b), np.linalg.norm(p1a-p2b),
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np.linalg.norm(p2a-p1b), np.linalg.norm(p2a-p2b))
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current_max_allowed_ep_gap = max(max_ep_gap_abs, max_ep_gap_factor * shorter_len)
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if min_ep_dist > current_max_allowed_ep_gap:
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return False
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# 附加检查：确保线段确实是"连接的"或"重叠的"
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# 计算一个端点到另一个 *线段* (非无限线) 的距离
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def dist_point_to_segment(p, seg_a, seg_b):
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ap = p - seg_a
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ab = seg_b - seg_a
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ab_len_sq = np.dot(ab, ab)
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if ab_len_sq < 1e-6: return np.linalg.norm(ap)
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t = np.dot(ap, ab) / ab_len_sq
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if t < 0.0: closest_point = seg_a
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elif t > 1.0: closest_point = seg_b
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else: closest_point = seg_a + t * ab
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return np.linalg.norm(p - closest_point)
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dist_p1a_to_seg_b = dist_point_to_segment(p1a, p1b, p2b)
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dist_p2a_to_seg_b = dist_point_to_segment(p2a, p1b, p2b)
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dist_p1b_to_seg_a = dist_point_to_segment(p1b, p1a, p2a)
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dist_p2b_to_seg_a = dist_point_to_segment(p2b, p1a, p2a)
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if min(dist_p1a_to_seg_b, dist_p2a_to_seg_b, dist_p1b_to_seg_a, dist_p2b_to_seg_a) > current_max_allowed_ep_gap:
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return False
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return True
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def _merge_two_lines(line1_pts, line2_pts):
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points = np.array([
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line1_pts[:2], line1_pts[2:],
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line2_pts[:2], line2_pts[2:]
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], dtype=np.float32)
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vx, vy, x0, y0 = cv2.fitLine(points.reshape(-1,1,2), cv2.DIST_L2, 0, 0.01, 0.01)
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vx, vy, x0, y0 = vx[0], vy[0], x0[0], y0[0]
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projected_params = []
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line_origin = np.array([x0, y0])
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line_direction = np.array([vx, vy])
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for i in range(4):
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pt_vec = points[i] - line_origin
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param = np.dot(pt_vec, line_direction)
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projected_params.append(param)
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min_param = min(projected_params)
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max_param = max(projected_params)
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p_start = line_origin + min_param * line_direction
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p_end = line_origin + max_param * line_direction
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return [int(round(p_start[0])), int(round(p_start[1])),
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int(round(p_end[0])), int(round(p_end[1]))]
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def _merge_collinear_lines_iterative(lines_from_hough,
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min_initial_len,
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max_angle_diff_deg,
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max_ep_gap_abs, max_ep_gap_factor,
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max_p_dist_abs, max_p_dist_factor):
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if lines_from_hough is None:
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return None
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# 将HoughLinesP的输出转换为Python列表 [[x1,y1,x2,y2], ...]
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py_lines = [list(line[0]) for line in lines_from_hough]
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# 过滤掉初始太短的线
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current_lines = [line for line in py_lines if np.linalg.norm(np.array(line[:2]) - np.array(line[2:])) >= min_initial_len]
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if not current_lines or len(current_lines) < 2:
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return np.array([[line] for line in current_lines]) if current_lines else np.array([])
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made_change_in_pass = True
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while made_change_in_pass:
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made_change_in_pass = False
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i = 0
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while i < len(current_lines):
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j = i + 1
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merged_line_i = False
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while j < len(current_lines):
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if _are_lines_mergeable(current_lines[i], current_lines[j],
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max_angle_diff_deg,
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max_ep_gap_abs, max_ep_gap_factor,
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max_p_dist_abs, max_p_dist_factor):
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merged_line = _merge_two_lines(current_lines[i], current_lines[j])
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current_lines[i] = merged_line # 更新第i条线
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current_lines.pop(j) # 移除第j条线
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made_change_in_pass = True
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merged_line_i = True
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# 由于current_lines[i]已改变，且列表长度已改变，
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# 最安全的是从头开始或至少重新评估current_lines[i]
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# 但对于这种贪心策略，继续尝试将（新的）current_lines[i]与后续线合并是可以的
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# j的位置不需要改变，因为它指向被删除元素后的下一个元素
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continue # j 现在指向下一条未检查的线，相对于更新后的i
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j += 1
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# 如果 line_i 在内部循环中被修改过，则外部的 i 也应该重新评估
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# 但由于我们是迭代地进行整个过程(while made_change_in_pass), 最终会收敛
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i += 1
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return np.array([[line] for line in current_lines]) if current_lines else np.array([])
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