camAlgo/camCalib/lineDetection_steger.cpp

#include<iostream>
#include<opencv2\opencv.hpp>
#include<unordered_map>
#include<math.h>
#include <corecrt_math_defines.h>
#include "lineDetection_steger.h"

#if 1
using namespace std;
using namespace cv;

struct EV_VAL_VEC {
	double nx, ny;//nx<6E><78>nyΪ<79><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
};

void SetFilterMat(Mat& Dx, Mat& Dy, Mat& Dxx, Mat& Dyy, Mat& Dxy, int size_m)//radius * 2= size 
{
	if (size_m % 2 == 0 || size_m == 1) cout << "size is not illegal !!" << endl;
	Mat m1 = Mat::zeros(Size(size_m, size_m), CV_64F);//Dx
	Mat m2 = Mat::zeros(Size(size_m, size_m), CV_64F);//Dy
	Mat m3 = Mat::zeros(Size(size_m, size_m), CV_64F);//Dxx
	Mat m4 = Mat::zeros(Size(size_m, size_m), CV_64F);//Dyy
	Mat m5 = Mat::zeros(Size(size_m, size_m), CV_64F);//Dxy

	for (int i = 0; i < size_m / 2; i++)
	{
		m1.row(i) = 1;
		m2.col(i) = 1;
		m3.row(i) = -1;
		m4.col(i) = -1;
	}
	for (int i = size_m / 2 + 1; i < size_m; i++)
	{
		m1.row(i) = -1;
		m2.col(i) = -1;
		m3.row(i) = -1;
		m4.col(i) = -1;
	}
	m3.row(size_m / 2) = (size_m / 2) * 2;
	m4.col(size_m / 2) = (size_m / 2) * 2;
	m5.row(size_m / 2) = 1;
	m5.col(size_m / 2) = 1;
	m5.at<double>(size_m / 2, size_m / 2) = -(size_m / 2) * 4;
	if (size_m == 5) m5 = (Mat_<double>(5, 5) << 0, 0, 1, 0, 0, 0, 1, 2, 1, 0, 1, 2, -16, 2, 1, 0, 1, 2, 1, 0, 0, 0, 1, 0, 0);
	Dx = m2;
	Dy = m1;
	Dxx = m4;
	Dyy = m3;
	Dxy = m5;
	cout << Dx << endl;
	cout << Dy << endl;
	cout << Dxx << endl;
	cout << Dyy << endl;
	cout << Dxy << endl;
	return;
}

#if 0
bool isMax(int i, int j, Mat& img, int dx, int dy)//<2F>ڷ<EFBFBD><DAB7>߷<EFBFBD><DFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA>ֵ
{
	double val = img.at<double>(j, i);
	double max_v = max(img.at<double>(j + dy, i + dx), img.at<double>(j - dy, i - dx));
	if (val >= max_v) return true;
	else return false;
}

void StegerLine(Mat& img0, vector<Point2d>& sub_pixel, int size_m)
{
	Mat img;
	cvtColor(img0, img0, cv::COLOR_BGR2GRAY);
	img = img0.clone();

	//<2F><>˹<EFBFBD>˲<EFBFBD>
	img.convertTo(img, CV_64FC1);
	cv::GaussianBlur(img, img, Size(3, 3), 0.9, 0.9);
	cv::imwrite("gauss_blur_src.bmp", img);

	//ho_Image = Mat2Hobject(img);
	//Threshold(ho_Image, &ho_Region, 80, 255);
	//GetRegionPoints(ho_Region, &hv_Rows, &hv_Columns);


	//һ<><D2BB>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD>
	Mat m1, m2;
	//<2F><><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD>
	Mat m3, m4, m5;
	SetFilterMat(m1, m2, m3, m4, m5, size_m);

	cout << m5 << endl;

	Mat dx, dy;
	filter2D(img, dx, CV_64FC1, m1);
	filter2D(img, dy, CV_64FC1, m2);

	Mat dxx, dyy, dxy;
	filter2D(img, dxx, CV_64FC1, m3);
	filter2D(img, dyy, CV_64FC1, m4);
	filter2D(img, dxy, CV_64FC1, m5);

	//hessian<61><6E><EFBFBD><EFBFBD>
	int imgcol = img.cols;
	int imgrow = img.rows;
	vector<double> Pt;

	for (int i = 0; i < imgcol; i++)
	{
		for (int j = 0; j < imgrow; j++)
		{
			double pixel_val = img.at<double>(j, i);
			if (img.at<double>(j, i) > 50)            //<2F><>Ҫȷ<D2AA><C8B7>ROI<4F><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
			{
				Mat hessian(2, 2, CV_64FC1);
				hessian.at<double>(0, 0) = dxx.at<double>(j, i);
				hessian.at<double>(0, 1) = dxy.at<double>(j, i);
				hessian.at<double>(1, 0) = dxy.at<double>(j, i);
				hessian.at<double>(1, 1) = dyy.at<double>(j, i);

				Mat eValue;
				Mat eVectors;
				eigen(hessian, eValue, eVectors);

				double nx, ny;
				double EV_max = 0;//<2F><><EFBFBD><EFBFBD>ֵ
				double EV_min = 0;
				if (fabs(eValue.at<double>(0, 0)) >= fabs(eValue.at<double>(1, 0)))  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
				{
					nx = eVectors.at<double>(0, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					ny = eVectors.at<double>(0, 1);
					EV_max = max(eValue.at<double>(0, 0), eValue.at<double>(1, 0));
					EV_min = min(eValue.at<double>(0, 0), eValue.at<double>(1, 0));
				}
				else
				{
					nx = eVectors.at<double>(1, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					ny = eVectors.at<double>(1, 1);
					EV_max = max(eValue.at<double>(0, 0), eValue.at<double>(1, 0));
					EV_min = min(eValue.at<double>(0, 0), eValue.at<double>(1, 0));
				}

				//t <20><>ʽ ̩<><CCA9>չ<EFBFBD><D5B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD><D7B5><EFBFBD>
				double a = nx * nx * dxx.at<double>(j, i) + 2 * nx * ny * dxy.at<double>(j, i) + ny * ny * dyy.at<double>(j, i);
				double b = nx * dx.at<double>(j, i) + ny * dy.at<double>(j, i);
				double t = -b / a;

				int dx;
				int dy;

				if (abs(nx) >= 2 * abs(ny)) dx = 1, dy = 0;//<2F><>ֱ
				else if (abs(ny) >= 2 * abs(nx)) dx = 0, dy = 1;//ˮƽ
				else if (nx > 0) dx = 1, dy = 1;
				else if (ny > 0) dx = -1, dy = -1;

				if (isMax(i, j, img, dx, dy))
					//if(EV_min<-120)
				{
					double temp1 = t * nx;
					double temp2 = t * ny;
					if (fabs(t * nx) <= 0.5 && fabs(t * ny) <= 0.5)//(x + t * Nx, y + t * Ny)Ϊ<><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					{
						Pt.push_back(i + t * nx);
						Pt.push_back(j + t * ny);
					}
				}
			}
		}
	}

	for (int k = 0; k < Pt.size() / 2; k++)
	{
		Point2d rpt;
		rpt.x = Pt[2 * k + 0];
		rpt.y = Pt[2 * k + 1];
		sub_pixel.push_back(rpt);
	}

}

//E:/workplace/Line_Dtection/Project1/1/1-0.bmp

int main()//E:/workplace/get_line_width/<2F><>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>ԭͼ/<2F><>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>/1300us.bmp
{
	Mat src = imread("E:/workplace/Line_Dtection/Project1/1/1-9.bmp");
	vector<Point2d>sub_pixel;
	StegerLine(src, sub_pixel, 5);
	ofstream outfile_r, outfile_c;
	outfile_r.open("subpixel_row.txt");
	outfile_c.open("subpixel_col.txt");
	outfile_r << sub_pixel.size() << endl;
	outfile_c << sub_pixel.size() << endl;
	for (int i = 0; i < sub_pixel.size(); i++)
	{
		outfile_r << setprecision(15) << "2 " << sub_pixel[i].y << endl;
		outfile_c << setprecision(15) << "2 " << sub_pixel[i].x << endl;
	}
	outfile_c.close();
	outfile_r.close();
	return 0;
}
#endif
#endif

typedef struct
{
	double dx;
	double dy;
	double dxx;
	double dyy;
	double dxy;
}sPtDerivate;

//ֱ<>Ӳ<EFBFBD><D3B2><EFBFBD><EFBFBD><EFBFBD>
double gaussKernel2D(double x, double y, double sigma)
{
	double sigma2 = sigma * sigma;
	double norm = 1.0 / (2 * M_PI * sigma2);
	return (norm * exp(-(x * x + y * y) / (2 * sigma2)));
}

// 2D<32><44>˹һ<CBB9>׵<EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>
void generate_1st_2Dmask_directSample(double sigma, int radius, cv::Mat& mask_x, cv::Mat& mask_y)
{
	int size = 2 * radius + 1;
	mask_x = cv::Mat::zeros(size, size, CV_64FC1);
	mask_y = cv::Mat::zeros(size, size, CV_64FC1);
	double norm = -1.0 / (sigma * sigma);
	for (int row = 0; row < size; row++)
	{
		double y = (double)(row - radius);
		for (int col = 0; col < size; col++)
		{
			double x = (double)(col - radius);
			double dx = x * norm * gaussKernel2D(x, y, sigma);
			double dy = y * norm * gaussKernel2D(x, y, sigma);
			mask_x.at<double>(row, col) = dx;
			mask_y.at<double>(row, col) = dy;
		}
	}
	return;
}

// 2D<32><44>˹<EFBFBD><CBB9><EFBFBD>׵<EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>
void generate_2nd_2Dmask_directSample(double sigma, int radius, cv::Mat& mask_xx, cv::Mat& mask_yy, cv::Mat& mask_xy) 
{
	int size = 2 * radius + 1;
	mask_xx = cv::Mat::zeros(size, size, CV_64FC1);
	mask_yy = cv::Mat::zeros(size, size, CV_64FC1);
	mask_xy = cv::Mat::zeros(size, size, CV_64FC1);
	double sigma2 = sigma * sigma;
	double norm = 1.0 / (sigma2 * sigma2);
	double offset = 1.0 / sigma2;
	for (int row = 0; row < size; row++)
	{
		double y = (double)(row - radius);
		for (int col = 0; col < size; col++)
		{
			double x = (double)(col - radius);
			double dxx = (x * x * norm - offset) * gaussKernel2D(x, y, sigma);
			double dyy = (y * y * norm - offset) * gaussKernel2D(x, y, sigma);
			double dxy = x * y * norm * gaussKernel2D(x, y, sigma);
			mask_xx.at<double>(row, col) = dxx;
			mask_yy.at<double>(row, col) = dyy;
			mask_xy.at<double>(row, col) = dxy;
		}
	}
	return;
}

// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
sPtDerivate pointConvolve(
	cv::Point ptPos, //<2F><>λ<EFBFBD><CEBB>  
	int radius,  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>뾶
	cv::Mat& img,  //double<6C>͵<EFBFBD>ͨ<EFBFBD><CDA8>ͼ<EFBFBD><CDBC>
	cv::Mat& mask_x, //һ<><D2BB><EFBFBD><EFBFBD>Ĥx
	cv::Mat& mask_y, //һ<><D2BB><EFBFBD><EFBFBD>Ĥy
	cv::Mat& mask_xx, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĥxx
	cv::Mat& mask_yy, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĥyy
	cv::Mat& mask_xy //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĥxy
)
{
	sPtDerivate result = { 0.0, 0.0, 0.0, 0.0, 0.0 };
	cv::Size imgSize = img.size(); //
	if ((ptPos.x < radius ) || (ptPos.x > (imgSize.width-radius-1)) || (ptPos.y < radius) || (ptPos.y > (imgSize.height - radius - 1)))
		return result;

	int size = 2 * radius + 1;
	for (int i = 0; i < size; i++)
	{
		int row = i - radius;
		int y = ptPos.y + row;
		for (int j = 0; j < size; j++)
		{
			int col = j - radius;
			int x = ptPos.x + col;
			double value = img.at<double>(y, x);
			result.dx  += mask_x.at<double>(i, j) * value;
			result.dy  += mask_y.at<double>(i, j) * value;
			result.dxx += mask_xx.at<double>(i, j) * value;
			result.dyy += mask_yy.at<double>(i, j) * value;
			result.dxy += mask_xy.at<double>(i, j) * value;
		}
	}
	return result;
}

bool isMax(int i, int j, cv::Mat& img, int dx, int dy)//<2F>ڷ<EFBFBD><DAB7>߷<EFBFBD><DFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA>ֵ
{
	double val = img.at<double>(j, i);
	double max_v = std::max(img.at<double>(j + dy, i + dx), img.at<double>(j - dy, i - dx));
	if (val >= max_v) return true;
	else return false;
}

//<2F><><EFBFBD><EFBFBD>Hessian<61>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
cv::Point2f computeHessianSubpix(
	cv::Point ptPos, //<2F><>λ<EFBFBD><CEBB>
	cv::Mat& img,  //double<6C>͵<EFBFBD>ͨ<EFBFBD><CDA8>ͼ<EFBFBD><CDBC>
	sPtDerivate _ptDerivate
) 
{
	double subTh = 0.7;
	cv::Mat hessian(2, 2, CV_64FC1);
	hessian.at<double>(0, 0) = _ptDerivate.dxx;
	hessian.at<double>(0, 1) = _ptDerivate.dxy;
	hessian.at<double>(1, 0) = _ptDerivate.dxy;
	hessian.at<double>(1, 1) = _ptDerivate.dyy;

	cv::Mat eigenValue, eigenVector;
	cv::eigen(hessian, eigenValue, eigenVector);

	double nx, ny;
	double vnx, vny;
	double EV_max = 0;//<2F><><EFBFBD><EFBFBD>ֵ
	double EV_min = 0;
	if (fabs(eigenValue.at<double>(0, 0)) >= fabs(eigenValue.at<double>(1, 0)))  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	{
		nx = eigenVector.at<double>(0, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		ny = eigenVector.at<double>(0, 1);
		vnx = eigenVector.at<double>(1, 0);//С<><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		vny = eigenVector.at<double>(1, 1);
		EV_max = std::max(eigenValue.at<double>(0, 0), eigenValue.at<double>(1, 0));
		EV_min = std::min(eigenValue.at<double>(0, 0), eigenValue.at<double>(1, 0));
	}
	else
	{
		nx = eigenVector.at<double>(1, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		ny = eigenVector.at<double>(1, 1);
		vnx = eigenVector.at<double>(0, 0);//С<><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		vny = eigenVector.at<double>(0, 1);
		EV_max = std::max(eigenValue.at<double>(0, 0), eigenValue.at<double>(1, 0));
		EV_min = std::min(eigenValue.at<double>(0, 0), eigenValue.at<double>(1, 0));
	}

	cv::Point2f subPix = { -1.0f, -1.0f };  //<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
	//t <20><>ʽ ̩<><CCA9>չ<EFBFBD><D5B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD><D7B5><EFBFBD>
	double a = nx * nx * _ptDerivate.dxx + 2 * nx * ny * _ptDerivate.dxy + ny * ny * _ptDerivate.dyy;
	double b = nx * _ptDerivate.dx + ny * _ptDerivate.dy;
	if (a != 0.0)
	{
		double t = b / a; // -b / a;
		int dx;
		int dy;

		if (abs(nx) >= 2 * abs(ny)) dx = 1, dy = 0;//<2F><>ֱ
		else if (abs(ny) >= 2 * abs(nx)) dx = 0, dy = 1;//ˮƽ
		else if (nx > 0) dx = 1, dy = 1;
		else if (ny > 0) dx = -1, dy = -1;

		if (isMax(ptPos.x, ptPos.y, img, dx, dy))
			//if(EV_min<-120)
		{
			double temp1 = t * nx;
			double temp2 = t * ny;
			if (fabs(t * nx) <= subTh && fabs(t * ny) <= subTh)//(x + t * Nx, y + t * Ny)Ϊ<><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
			{
				subPix.x = (float)(ptPos.x + t * nx);
				subPix.y = (float)(ptPos.y + t * ny);
			}
		}
	}
	return subPix;
}

// <20>ӵ<EFBFBD><D3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void computePointSubpix(
	cv::Mat& inputImg,  //uchar<61>͵<EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>񣨻Ҷ<F1A3A8BB>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>
	std::vector<cv::Point>&pos,  //<2F><>ֵ<EFBFBD><D6B5><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ꡣ
	int gaussWin,  //ʹ<><CAB9>steger<65>㷨ʱָ<CAB1><D6B8><EFBFBD>Ĵ<EFBFBD><C4B4>ڿ<EFBFBD><DABF>ȡ<EFBFBD><C8A1>˿<EFBFBD><CBBF><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>뼤<EFBFBD><EBBCA4><EFBFBD>ߵĿ<DFB5><C4BF>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD>Ǻ<EFBFBD>
	std::vector<cv::Point2f>& posSubpix  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
)
{
	cv::Mat mask_x, mask_y, mask_xx, mask_yy, mask_xy;
	double sigma = (double)gaussWin / sqrt(3);
	//double sigma = 1.0;
#if 0
	SetFilterMat(mask_x, mask_y, mask_xx, mask_yy, mask_xy, gaussWin*2+1);
#else
	generate_1st_2Dmask_directSample(sigma, gaussWin, mask_x, mask_y);
	generate_2nd_2Dmask_directSample(sigma, gaussWin, mask_xx, mask_yy, mask_xy);
#endif	

#if 0
	std::cout << "mask::" << std::endl;
	std::cout << mask_x << std::endl;
	std::cout << mask_y << std::endl;
	std::cout << mask_xx << std::endl;
	std::cout << mask_yy << std::endl;
	std::cout << mask_xy << std::endl;
#endif
	//<2F><>˹<EFBFBD>˲<EFBFBD>
	cv::Mat img;
	inputImg.convertTo(img, CV_64FC1);
	cv::GaussianBlur(img, img, cv::Size(3, 3), 0.9, 0.9);
	//cv::imwrite("gauss_blur_src.bmp", img);

	for (int i = 0, i_max = (int)pos.size(); i < i_max; i++)
	{
		cv::Point ptPos = pos[i];
		int doSubPix = 0;
		while (doSubPix >= 0)
		{
			sPtDerivate a_ptDerivate = pointConvolve(
				ptPos, //<2F><>λ<EFBFBD><CEBB>  
				gaussWin,  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>뾶
				img,  //double<6C>͵<EFBFBD>ͨ<EFBFBD><CDA8>ͼ<EFBFBD><CDBC>
				mask_x, //һ<><D2BB><EFBFBD><EFBFBD>Ĥx
				mask_y, //һ<><D2BB><EFBFBD><EFBFBD>Ĥy
				mask_xx, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĥxx
				mask_yy, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĥyy
				mask_xy //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĥxy
			);
			cv::Point2f subpix = computeHessianSubpix(
				ptPos, //<2F><>λ<EFBFBD><CEBB>
				img,  //double<6C>͵<EFBFBD>ͨ<EFBFBD><CDA8>ͼ<EFBFBD><CDBC>
				a_ptDerivate
			);
			if ((subpix.x >= 0) && (subpix.y >= 0))
			{
				subpix.x += 0.5; //ͼ<><CDBC><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ñ<EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½ǣ<C2BD><C7A3><EFBFBD><EFBFBD>˴<EFBFBD><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD>λ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0.5<EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD>
				subpix.y -= 0.5;  //<2F>˴<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>Y<EFBFBD><59><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD>෴
				posSubpix.push_back(subpix);
				doSubPix = -1;
			}
			else
			{
				if (0 == doSubPix)
				{
					ptPos.x = pos[i].x - 1;
					doSubPix = 1;
				}
				else if (1 == doSubPix)
				{
					ptPos.x = pos[i].x + 1;
					doSubPix = 2;
				}
				else
				{
					doSubPix = -1;
				}
			}
		}
	}
	return;
}