ĐẠI HỌC QUỐC GIA THÀNH PHỐ HỒ CHÍ MINH TRƯỜNG ĐẠI HỌC BÁCH KHOA ………………….oOo……………… BÀI TẬP LỚN SỐ – Nhóm Giáo viên hướng dẫn Sinh viên thực 2010003 Tống Phước Thanh An 2010284 Lê Đức Huy Lê Đức Hạnh (LT)) 2014467 Phạm Ngô Châu Thanh Lương Thanh Nhật (BT) 2014240 Nguyễn Đắc Đạo Quang 2013798 Trịnh Vũ Quốc Minh TP HỒ CHÍ MINH - NĂM 2022 h Cho hình sau: 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 1 0 1 0 1 1 0 0 1 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 a) Tính tay tất đường thẳng qua điểm dùng giải thuật hough line Nhóm 1: thực giải thuật hough line với hình vng góc trái Tính tay y x 0 0 0 0 h 1 1 1 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 Đường thẳng có dạng: xcos(θ) + ysin(θ) = r Ta tìm r với giá trị (x, y) pixel sáng θ góc biến thiên từ −180° đến 180°: Ví dụ: y 0 0 0 0 1 1 1 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 x Pixel vị trí (x, y) = (1,1), θ = 90°: r = × cos(90) + × sin(90) = y x h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 0 0 0 0 1 1 1 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 Pixel vị trí (x, y) = (2,1), θ = 90°: r = × cos(90) + × sin(90) = y 0 0 0 0 1 1 1 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 x Pixel vị trí (x, y) = (1,2), θ = 90°: r = × cos(90) + × sin(90) = y 0 0 0 0 1 1 1 x h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 Pixel vị trí (x, y) = (2,2), θ = 90°: r = × cos(90) + × sin(90) = Cuối tính tốn với toàn giá trị rời rạc θ, ta bảng đây: x y 1 1 2 3 4 -180 -135 -90 -45 45 -1 -2 1,41 -1 0,71 -3 2,12 -1 1,41 1,41 2,12 2,83 -4 2,83 -1 2,12 3,54 -5 -1 2,83 4,24 -6 -1 3,54 3,54 4,24 4,95 -1 4,95 -2 2,12 0,71 -2 -2 2,83 -3 -2 0,71 2,12 2 2,83 3,54 -4 3,54 -2 1,41 -5 4,24 -2 2,12 -6 4,95 -2 2,83 4,24 4,95 5,66 -1 5,66 -3 -2 2,83 -3 1,41 -5 3,54 -3 0,71 1,41 2,83 2,12 -6 2,83 1,41 -1 3,54 0,71 -2 5,66 -6 5,66 -3 2,12 -1 6,36 -4 -2 3,54 -4 2,12 - 6,36 3,54 -5 1,41 -6 2,12 2,12 -1 4,24 1,41 -2 -5 4,24 -4 1,41 0,71 -6 6,36 -4 1,41 7,07 6,36 7,07 -5 0,71 -6 1,41 -1 90 135 180 -1 -2 0,71 -3 1,41 -4 2,12 -5 2,83 -6 3,54 0,71 -1 -2 -3 0,71 -4 1,41 -5 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 5 5 5 6 6 6 6 Trong đó: Màu -1 -5 4,24 2,83 -2 -5 -3 4,95 -5 2,12 -4 5,66 -5 1,41 - 4,24 2,83 -1 4,95 2,12 -2 5,66 1,41 -3 6,36 0,71 -4 -5 6,36 -5 0,71 -6 7,07 -5 0,71 -1 7,78 -6 - 7,07 7,78 4,95 -6 0,71 3,54 -1 -2 4,95 -6 3,54 -3 5,66 -6 2,83 -4 6,36 -6 2,12 - 5,66 2,83 -2 6,36 2,12 -3 7,07 1,41 -4 -5 7,07 -6 1,41 -6 7,78 -6 0,71 8,49 7,78 0,71 -5 8,49 0 -5 -6 r θ Số lần lặp lại 90 90 90 6 90 6 6 6 Mảng tích lũy: r -180 -135 -90 -45 45 90 135 180 θ h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 -1 6 0 0 -2 6 0 0 -3 4 0 0 -4 4 0 0 -5 6 0 0 -6 6 0 0 1,41 0 2,12 0 2,83 0 3,54 0 4,24 0 0 0 4,95 0 0 0 5,66 0 0 0 6,36 0 0 0 7,07 0 0 0 7,78 0 0 0 8,49 0 0 0 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 0 0 0 0,71 0 0 1,41 0 4 2,12 0 3 2,83 0 3,54 0 0,71 0 0 0 0 6 0 0 0 6 0 0 0 4 0 0 0 4 0 0 0 6 0 0 0 6 0 4,24 0 0 0 4,95 0 0 0 5,66 0 0 0 6,36 0 0 0 7,07 0 0 0 7,78 0 0 0 8,49 0 0 0 Lưu ý: ta bỏ qua giá trị mảng tích lũy ứng với r < Lập trình: Lập trình sử dụng hàm houghline OpenCV tìm đường thẳng qua điểm, tìm giao điểm đường đầu nhóm hình cùng, góc trái h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 Tìm đường thẳng qua điểm Đầu tiên ta tách hình hàm connectedComponents connectedComponents(scr, dst, 8); Lọc lấy hình 1: for (int i = 0; i < dst.cols; i++) { for (int j = 0; j < dst.rows; j++) { if (dst.at(Point(i, j)) == 1) { image1.at(Point(i, j)) = 255; } } } Tất đường thẳng khơng tính đoạn Gap qua điểm, cần tìm hết đường thẳng, sử dụng hàm HoughLine để tìm đường nằm ngang đường thẳng đứng vector vertical_lines; vector horizon_lines; HoughLines(image1,horizon_lines, 1, CV_PI, 5, 0, 0,-CV_PI/2, 2*CV_PI); //Tim cac duong nam ngang HoughLines(image1, vertical_lines, 1, CV_PI / 2, 5, 0, 0, -CV_PI, CV_PI / 2); //Tim cac duong thang dung Kết tìm đường thẳng phương trình đường thẳng Hình 1.1 Đường thẳng đứng h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 Hình 1.2 Đường nằm ngang Vẽ đường thẳng tìm Hình 1.3 Các đường thẳng tìm Tìm giao điểm Do ta chia đường thẳng vào nhóm đường thẳng đứng đường nằm ngang, để tìm giao điểm, ta cần dùng phép and lên ảnh nhóm, tức điểm có tọa độ trùng hiển thị h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 Đối với Frame: Làm tương tự với Frame ta có : Ma trận Result đạo hàm Frame theo phương x: 10 11 12 13 14 15 16 17 0 -3 -1 -1 1 -4 -1 -3 -4 4 -3 -4 -1 -1 1 -4 0 -3 0 -1 0 -2 0 0 -1 -2 10 -2 11 -4 12 -4 -1 -4 -4 -4 13 -2 -4 14 15 0 0 -1 0 0 -1 -1 0 -2 -2 -2 -2 -2 16 -2 -2 -1 3 -4 -2 -2 17 Ma trận Result đạo hàm Frame theo phương y: 10 11 12 13 14 15 16 17 -1 -3 -3 -1 -1 4 -1 -1 -1 0 -2 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 -3 -4 -4 -4 -4 -3 3 0 -2 -1 0 -2 4 4 -2 -4 -4 -2 10 0 11 0 12 -1 -1 0 -1 0 0 13 -2 0 -2 -2 15 4 -1 -1 14 2 -2 -4 -4 -4 -4 16 -2 2 1 -1 -3 -2 -2 -3 17 Suy Theta Frame là: Hình 1: 45 90 90 90 90 135 -135 -108 -72 -45 -161 -18 161 18 135 108 72 45 -45 -90 -90 -90 -90 -135 Hình 2: 10 11 12 13 14 15 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 16 17 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 45 -45 135 45 -45 135 -45 135 0 -135 0 -135 45 135 -63 0 -135 -135 Hình 3: 45 63 90 90 117 -90 -90 -90 -90 135 10 27 0 153 11 0 0 12 0 0 13 -27 0 -153 14 -45 15 90 90 90 90 -135 -63 90 90 117 Hình 4: 10 11 12 13 14 15 72 18 45 10 -18 -135 11 -45 135 -45 135 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 12 13 45 14 18 135 15 -18 -45 16 -72 45 -90 -135 -135 17 Bước 3:Tính giá trị r alpha Template Ta liệt kê tất tọa độ pixel có cường độ sáng tiến hành tính tốn theo cơng thức: 𝑅𝑋 = 𝑥𝐶 − 𝑥 ; 𝑅𝑌 = 𝑦𝐶 − 𝑦 𝑅 = √𝑅𝑋2 + 𝑅𝑌2 ; 𝛼 = 𝑎𝑟𝑐𝑡𝑎𝑛 𝑅𝑌 𝑅𝑋 Tọa độ 1;1 2;1 3;1 4;1 5;1 6;1 1;2 1;3 1;4 1;5 1;6 2;6 3;6 4;6 5;6 6;6 6;2 6;3 6;4 6;5 Ry 2 2 2 -1 -2 -3 -3 -3 -3 -3 -3 -1 -2 Rx -1 -2 -3 2 2 -1 -2 -3 -3 -3 -3 -3 R 2,83 2,24 Alpha Theta 3,16 3,61 4,24 3,16 3,16 3,61 0,79 1,11 1,57 -1,11 -0,79 -0,59 0,46 -0,46 -0,79 -0,98 -1,25 1,57 1,25 0,98 0,79 -0,32 0,32 0,59 45 độ alpha 45 2,24 2,83 3,61 2,24 2,24 2,83 3,61 3,16 135 0 45 135 -45 0 45 -45 -135 0 -45 -135 -45 0 45 64 -64 -45 -34 26 -26 -45 -56 -72 72 56 45 18 34 90 90 -18 Ta gom theo Theta: Theta 45 135 -45 -135 (𝑟, 𝛼) (2,90);(2.24,-64);(2,0);(2.24,-26);(3,90);(3.16,72);(3,0);(3.16,18) (2.83,45);(2.83,-45) ;(2.83,-45);(3.61,34) (2.24,64); (3.61,-34) (3.61,-56) ;(2.24,26) ;(3.61,56) ;(3.16,-18) (4.24,45) ;(3.16,-72) Bước 4: Sử dụng cơng thức tìm tọa độ tâm Frame: h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 𝑋𝐶 = 𝑋𝑖 − 𝑅 ∗ cos(𝑎𝑙𝑝ℎ𝑎) 𝑌𝐶 = 𝑌𝑖 − 𝑅 ∗ sin(𝑎𝑙𝑝ℎ𝑎) Vote cho điểm hình 1: x y theta 1 R 45 alpha Xc Yc 2,83 0,79 2,991882243 3,010299761 2,83 -0,79 2,991882243 -1,010299761 1 3,61 0,59 3,999695852 3,008463293 2,24 1,11 2,996041798 3,006365056 3,61 -0,59 4,999695852 -1,008463293 2,24 1,11 3,996041798 3,006365056 3,61 -0,59 5,999695852 -1,008463293 2,24 1,11 4,996041798 3,006365056 3,61 -0,59 6,999695852 -1,008463293 2,24 1,11 5,996041798 3,006365056 3,61 -0,59 7,999695852 -1,008463293 2,24 1,11 6,996041798 3,006365056 3,61 -0,59 8,999695852 -1,008463293 2 1,57 6,001592653 3,999999366 2,24 -1,11 6,996041798 -0,006365055923 2 2,24 -0,46 8,007157594 1,00555624 3 1,57 6,00238898 5,999999049 3,16 1,25 6,996418665 5,998791397 3 3,16 0,32 8,999583921 3,994030332 1,57 6,001592653 5,999999366 2,24 -1,11 6,996041798 1,993634944 2,24 -0,46 8,007157594 3,00555624 1,57 6,00238898 7,999999049 3,16 1,25 6,996418665 7,998791397 90 90 90 90 135 0 0 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 3,16 0,32 8,999583921 5,994030332 6 4,24 0,79 8,984304138 9,011897875 6 3,16 -1,25 6,996418665 3,001208603 2 1,57 1,001592653 3,999999366 2,24 -1,11 1,996041798 -0,006365055923 2 2 2,24 -0,46 3,007157594 1,00555624 3 1,57 1,00238898 5,999999049 3,16 1,25 1,996418665 5,998791397 3 3 3,16 0,32 3,999583921 3,994030332 1,57 1,001592653 5,999999366 2,24 -1,11 1,996041798 1,993634944 4 2,24 -0,46 3,007157594 3,00555624 1,57 1,00238898 7,999999049 3,16 1,25 1,996418665 7,998791397 5 3,16 0,32 3,999583921 5,994030332 3,61 -0,98 3,010851394 3,001904493 2,24 0,46 3,007157594 6,99444376 3,61 0,98 3,010851394 8,998095507 3,16 -0,32 3,999583921 5,005969668 4,24 0,79 4,984304138 9,011897875 3,16 -1,25 2,996418665 3,001208603 4,24 0,79 5,984304138 9,011897875 3,16 -1,25 3,996418665 3,001208603 4,24 0,79 6,984304138 9,011897875 3,16 -1,25 4,996418665 3,001208603 4,24 0,79 7,984304138 9,011897875 3,16 -1,25 5,996418665 3,001208603 -135 0 0 -45 -90 -90 -90 -90 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 Số lần xuất x=3 y=3 nhiều nên tâm hình nằm (3,3) Điểm (3,3) vượt trội số lần xuất hiện, tâm template tìm hình Vote cho điểm hình 3: x y theta R 45 alpha Xc Yc 2,83 0,79 2,9919 11,0103 2,83 -0,79 2,9919 6,99 3,61 0,59 3,9997 11,01 4,24 2,24 -0,6303 12,33 3,16 3,61 -0,8196 7,57 4,24 2,24 0,3697 12,33 3,16 3,61 0,1804 7,57 4,24 2,24 1,3697 12,33 3,16 3,61 1,1804 7,57 4,24 2,24 2,3697 12,33 3,16 3,61 2,1804 7,57 2,24 1,11 6,996 11,01 3,61 -0,59 8,9997 6,99 10 1,57 6,0016 12 10 2,24 -1,11 6,996 7,99 10 10 10 2,24 -0,46 8,0072 9,01 11 1,57 6,0024 14 11 3,16 1,25 6,9964 14 11 11 11 3,16 0,32 8,9996 11,99 12 1,57 6,0016 14 12 2,24 -1,11 6,996 9,99 12 12 12 2,24 -0,46 8,0072 11,01 13 1,57 6,0024 16 13 3,16 1,25 6,9964 16 13 13 13 3,16 0,32 8,9996 13,99 -90 -90 -90 -90 135 0 0 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 14 14 10 -135 4,24 0,79 8,9843 17,01 3,16 -1,25 6,9964 11 1,57 1,0016 12 10 2,24 -1,11 1,996 7,99 10 10 10 2,24 -0,46 3,0072 11,01 11 1,57 1,0024 14 11 3,16 1,25 1,9964 14 11 11 11 3,16 0,32 3,9996 11,99 12 1,57 1,0016 14 12 2,24 -1,11 1,996 9,99 12 12 12 2,24 -0,46 3,0072 11,01 13 1,57 1,0024 16 13 3,16 1,25 1,9964 16 13 13 13 3,16 0,32 3,9996 13,99 14 3,61 -0,98 3,0109 11 14 2,24 0,46 3,0072 14,99 14 3,61 0,98 3,0109 17 14 3,16 -0,32 3,9996 13,01 14 2,24 4,24 0,9808 12,01 14 3,61 3,16 -1,6094 13,93 14 2,24 4,24 1,9808 12,01 14 3,61 3,16 -0,6094 13,93 14 2,24 4,24 2,9808 12,01 14 3,61 3,16 0,3906 13,93 14 2,24 4,24 3,9808 12,01 14 3,61 3,16 1,3906 13,93 0 0 -45 90 90 90 90 Ta thấy tọa độ (3,11) xuất nhiều nên tâm hình h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 *Sử dụng với hệ số scale 2/3, ta công thức: 𝑋𝐶 = 𝑋𝑖 − (𝑅 ∗ cos(𝛼) ∗ cos(𝜃) + 𝑅 ∗ sin(𝛼) ∗ sin(𝜃)) ∗ 𝑠 𝑌𝐶 = 𝑌𝑖 − (𝑅 ∗ cos(𝛼) ∗ sin(𝜃) + 𝑅 ∗ cos(𝜃)) ∗ 𝑠 → 𝑋𝐶 = 𝑋𝑖 − 𝑅 ∗ cos(𝛼) ∗ 2 ; 𝑌𝐶 = 𝑌𝑖 − 𝑅 ∗ sin(𝛼) ∗ 3 Vote điểm hình 1: x y theta 2 2 3 2 3 4 5 5 4 R -135 alpha Xc Yc 4,24 0,79 0,01046390776 -0,0079319167 3,16 -1,25 1,33572089 3,999194265 4,24 0,79 1,010463908 -0,0079319167 3,16 -1,25 2,33572089 3,999194265 4,24 0,79 0,01046390776 0,9920680833 3,16 -1,25 1,33572089 4,999194265 2,24 1,11 1,335972135 2,662423296 3,61 -0,59 0,0002027656323 5,338975528 2,24 1,11 1,335972135 3,662423296 3,61 -0,59 0,0002027656323 6,338975528 2,24 1,11 2,335972135 3,662423296 3,61 -0,59 1,000202766 6,338975528 3,61 -0,98 2,659432404 3,998730338 2,24 0,46 2,661894937 1,337037494 3,61 0,98 2,659432404 0,001269661683 3,16 -0,32 2,000277386 2,662686888 3,61 -0,98 3,659432404 3,998730338 2,24 0,46 3,661894937 1,337037494 3,61 0,98 3,659432404 0,001269661683 3,16 -0,32 3,000277386 2,662686888 3,61 -0,98 3,659432404 4,998730338 2,24 0,46 3,661894937 2,337037494 3,61 0,98 3,659432404 1,001269662 3,16 -0,32 3,000277386 3,662686888 2,83 0,79 3,672078504 2,659800159 -108 -161 161 135 108 -72 -45 -18 18 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 2,83 -0,79 3,672078504 5,340199841 3,61 0,59 3,000202766 2,661024472 5 2,83 0,79 3,672078504 3,659800159 5 2,83 -0,79 3,672078504 6,340199841 5 3,61 0,59 3,000202766 3,661024472 2,83 0,79 2,672078504 3,659800159 2,83 -0,79 2,672078504 6,340199841 3,61 0,59 2,000202766 3,661024472 45 72 Template 2: 2 3 1 1 1 1 1 1 1 1 -2 -2 1 10 Tọa độ tâm: → 𝑋𝑐 = 𝑆𝑥 105 = =5 𝑆 21 → 𝑌𝐶 = 𝑆𝑦 80 = = 3,81 𝑆 21 → (𝑋𝐶 , 𝑌𝐶 ) = (5,4) Đạo hàm sobel x: 0 2 0 -2 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 10 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 3 -1 -1 -1 1 -3 -1 -3 -3 -1 Đạo hàm sobel y: 1 -1 -3 -3 -2 -2 10 -1 -1 -3 135 45 -72 135 -108 -162 Theta Template2: 1 45 -18 -72 Lập bảng R cho template2: Tọa độ 5;1 4;2 5;2 6;2 3;3 4;3 45 135 -108 6;3 7;3 45 -135 -135 90 135 -45 -45 2;4 3;4 7;4 8;4 1;5 2;5 3;5 4;5 10 5;5 6;5 7;5 8;5 9;5 Ry 2 1 1 0 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 Rx -1 -1 -2 -2 -3 -1 -2 -3 -4 R 2,24 2,24 2,24 1,41 1,41 2,24 2 4,12 3,16 2,24 1,41 1,41 2,24 3,16 4,12 1,57 1,11 1,57 1,11 0,46 0,79 -0,79 -0,46 0 0 -0,24 -0,32 -0,46 -0,79 1,57 0,79 0,46 0,32 0,24 -45 -72 108 162 Alph a Thet a 90 45 135 45 135 -45 135 45 135 45 135 -18 -72 -108 -135 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 độ alph a 90 64 90 -64 26 45 -45 -26 0 0 -14 -18 -26 -45 Ta gom theo Theta: (𝑟, 𝛼) (2,1.57);(1,1.57) (2.24,1.11);(2.24,0.46);(3,0);(2,0) (2.24,-1.11);(2.24,-0.46);(2,0);(3,0) (1.41,-0.79);(1.41,0.79) (1.41,0.79);(1.41,-0.79) (4.12,-0.24) (3.16,-0.32);(2.24,0.46) (2.24,-0.46);(3.16,0.32) (4.12,0.24) Theta 45 135 -45 -135 -18 -72 -108 -162 Tiến hành vote cho điểm hình 4: Sử dụng với góc quay 90 độ: 𝑋𝐶 = 𝑋𝑖 − (𝑅 ∗ cos(𝛼) ∗ cos(𝜃 ) + 𝑅 ∗ sin(𝛼) ∗ sin(𝜃)) 𝑌𝐶 = 𝑌𝑖 − (𝑅 ∗ cos(𝛼) ∗ sin(𝜃 ) + 𝑅 ∗ sin(𝛼) ∗ cos(𝜃)) → 𝑋𝐶 = 𝑋𝑖 − 𝑅 ∗ sin(𝛼) ; 𝑌𝐶 = 𝑌𝑖 − 𝑅 ∗ cos(𝛼) 10 11 12 13 14 15 72 18 45 10 -18 -135 11 -45 12 13 45 14 18 135 15 -18 -45 16 -72 135 -45 135 45 -90 -135 -135 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 90 45 26 18 14 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 17 Vote điểm cho hình 4: h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 x y theta R alpha Xc Yc 14 12 -90 1,57 12,00000063 11,99840735 13 11 135 2,24 -1,11 15,00636506 10,0039582 13 11 2,24 -0,46 13,99444376 8,992842406 13 11 13 13 11 13 13 12 1,57 11,00000063 11,99840735 13 12 1,57 12,00000032 11,99920367 13 13 1,41 0,79 11,99840189 12,0075781 13 13 1,41 -0,79 14,00159811 12,0075781 12 11 1,41 -0,79 13,00159811 10,0075781 12 11 1,41 0,79 10,99840189 10,0075781 12 13 2,24 1,11 9,993634944 12,0039582 12 13 2,24 0,46 11,00555624 10,99284241 12 13 12 10 12 13 12 11 12 14 1,41 0,79 10,99840189 13,0075781 12 14 1,41 -0,79 13,00159811 13,0075781 11 2,24 1,11 8,993634944 8,003958202 11 2,24 0,46 10,00555624 6,992842406 11 11 11 11 11 10 1,41 0,79 9,998401886 9,007578105 11 10 1,41 -0,79 12,00159811 9,007578105 11 14 2,24 -1,11 13,00636506 13,0039582 11 14 2,24 -0,46 11,99444376 11,99284241 11 14 11 12 11 14 11 11 11 15 1,41 -0,79 12,00159811 14,0075781 11 15 1,41 0,79 9,998401886 14,0075781 10 3,16 -0,32 10,99403033 5,000416079 10 2,24 0,46 9,00555624 5,992842406 10 4,12 0,24 9,020665179 4,998087544 -135 -45 45 -135 45 -135 135 -45 72 18 h 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.C.33.44.55.54.78.655.43.22.2.4.55.2237.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.66 37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.55.77.77.99.44.45.67.22.55.77.C.37.99.44.45.67.22.99