442 lines
12 KiB
C++
442 lines
12 KiB
C++
|
// Copyright (C) 2007 by Cristóbal Carnero Liñán
|
||
|
|
// grendel.ccl@gmail.com
|
||
|
|
//
|
||
|
|
// This file is part of cvBlob.
|
||
|
|
//
|
||
|
|
// cvBlob is free software: you can redistribute it and/or modify
|
||
|
|
// it under the terms of the Lesser GNU General Public License as published by
|
||
|
|
// the Free Software Foundation, either version 3 of the License, or
|
||
|
|
// (at your option) any later version.
|
||
|
|
//
|
||
|
|
// cvBlob is distributed in the hope that it will be useful,
|
||
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
// Lesser GNU General Public License for more details.
|
||
|
|
//
|
||
|
|
// You should have received a copy of the Lesser GNU General Public License
|
||
|
|
// along with cvBlob. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
//
|
||
|
|
|
||
|
|
#include <stdexcept>
|
||
|
|
#include <iostream>
|
||
|
|
using namespace std;
|
||
|
|
|
||
|
|
#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
|
||
|
|
#include <cv.h>
|
||
|
|
#else
|
||
|
|
#include <opencv/cv.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include "cvblob.h"
|
||
|
|
|
||
|
|
namespace cvb
|
||
|
|
{
|
||
|
|
const char movesE[4][3][4] = { { {-1, -1, 3, CV_CHAINCODE_UP_LEFT }, { 0, -1, 0, CV_CHAINCODE_UP }, { 1, -1, 0, CV_CHAINCODE_UP_RIGHT } },
|
||
|
|
{ { 1, -1, 0, CV_CHAINCODE_UP_RIGHT }, { 1, 0, 1, CV_CHAINCODE_RIGHT}, { 1, 1, 1, CV_CHAINCODE_DOWN_RIGHT } },
|
||
|
|
{ { 1, 1, 1, CV_CHAINCODE_DOWN_RIGHT}, { 0, 1, 2, CV_CHAINCODE_DOWN }, {-1, 1, 2, CV_CHAINCODE_DOWN_LEFT } },
|
||
|
|
{ {-1, 1, 2, CV_CHAINCODE_DOWN_LEFT }, {-1, 0, 3, CV_CHAINCODE_LEFT }, {-1, -1, 3, CV_CHAINCODE_UP_LEFT } }
|
||
|
|
};
|
||
|
|
|
||
|
|
const char movesI[4][3][4] = { { { 1, -1, 3, CV_CHAINCODE_UP_RIGHT }, { 0, -1, 0, CV_CHAINCODE_UP }, {-1, -1, 0, CV_CHAINCODE_UP_LEFT } },
|
||
|
|
{ {-1, -1, 0, CV_CHAINCODE_UP_LEFT }, {-1, 0, 1, CV_CHAINCODE_LEFT }, {-1, 1, 1, CV_CHAINCODE_DOWN_LEFT } },
|
||
|
|
{ {-1, 1, 1, CV_CHAINCODE_DOWN_LEFT }, { 0, 1, 2, CV_CHAINCODE_DOWN }, { 1, 1, 2, CV_CHAINCODE_DOWN_RIGHT } },
|
||
|
|
{ { 1, 1, 2, CV_CHAINCODE_DOWN_RIGHT }, { 1, 0, 3, CV_CHAINCODE_RIGHT}, { 1, -1, 3, CV_CHAINCODE_UP_RIGHT } }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
unsigned int cvLabel (IplImage const *img, IplImage *imgOut, CvBlobs &blobs)
|
||
|
|
{
|
||
|
|
CV_FUNCNAME("cvLabel");
|
||
|
|
__CV_BEGIN__;
|
||
|
|
{
|
||
|
|
CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==1));
|
||
|
|
CV_ASSERT(imgOut&&(imgOut->depth==IPL_DEPTH_LABEL)&&(img->nChannels==1));
|
||
|
|
|
||
|
|
unsigned int numPixels=0;
|
||
|
|
|
||
|
|
cvSetZero(imgOut);
|
||
|
|
|
||
|
|
CvLabel label=0;
|
||
|
|
cvReleaseBlobs(blobs);
|
||
|
|
|
||
|
|
unsigned int stepIn = img->widthStep / (img->depth / 8);
|
||
|
|
unsigned int stepOut = imgOut->widthStep / (imgOut->depth / 8);
|
||
|
|
unsigned int imgIn_width = img->width;
|
||
|
|
unsigned int imgIn_height = img->height;
|
||
|
|
unsigned int imgIn_offset = 0;
|
||
|
|
unsigned int imgOut_width = imgOut->width;
|
||
|
|
unsigned int imgOut_height = imgOut->height;
|
||
|
|
unsigned int imgOut_offset = 0;
|
||
|
|
if(img->roi)
|
||
|
|
{
|
||
|
|
imgIn_width = img->roi->width;
|
||
|
|
imgIn_height = img->roi->height;
|
||
|
|
imgIn_offset = img->roi->xOffset + (img->roi->yOffset * stepIn);
|
||
|
|
}
|
||
|
|
if(imgOut->roi)
|
||
|
|
{
|
||
|
|
imgOut_width = imgOut->roi->width;
|
||
|
|
imgOut_height = imgOut->roi->height;
|
||
|
|
imgOut_offset = imgOut->roi->xOffset + (imgOut->roi->yOffset * stepOut);
|
||
|
|
}
|
||
|
|
|
||
|
|
unsigned char *imgDataIn = (unsigned char *)img->imageData + imgIn_offset;
|
||
|
|
CvLabel *imgDataOut = (CvLabel *)imgOut->imageData + imgOut_offset;
|
||
|
|
|
||
|
|
#define imageIn(X, Y) imgDataIn[(X) + (Y)*stepIn]
|
||
|
|
#define imageOut(X, Y) imgDataOut[(X) + (Y)*stepOut]
|
||
|
|
|
||
|
|
CvLabel lastLabel = 0;
|
||
|
|
CvBlob *lastBlob = NULL;
|
||
|
|
|
||
|
|
for (unsigned int y=0; y<imgIn_height; y++)
|
||
|
|
{
|
||
|
|
for (unsigned int x=0; x<imgIn_width; x++)
|
||
|
|
{
|
||
|
|
if (imageIn(x, y))
|
||
|
|
{
|
||
|
|
bool labeled = imageOut(x, y);
|
||
|
|
|
||
|
|
if ((!imageOut(x, y))&&((y==0)||(!imageIn(x, y-1))))
|
||
|
|
{
|
||
|
|
labeled = true;
|
||
|
|
|
||
|
|
// Label contour.
|
||
|
|
label++;
|
||
|
|
CV_ASSERT(label!=CV_BLOB_MAX_LABEL);
|
||
|
|
|
||
|
|
imageOut(x, y) = label;
|
||
|
|
numPixels++;
|
||
|
|
|
||
|
|
// XXX This is not necessary at all. I only do this for consistency.
|
||
|
|
if (y>0)
|
||
|
|
imageOut(x, y-1) = CV_BLOB_MAX_LABEL;
|
||
|
|
|
||
|
|
CvBlob *blob = new CvBlob;
|
||
|
|
blob->label = label;
|
||
|
|
blob->area = 1;
|
||
|
|
blob->minx = x; blob->maxx = x;
|
||
|
|
blob->miny = y; blob->maxy = y;
|
||
|
|
blob->m10=x; blob->m01=y;
|
||
|
|
blob->m11=x*y;
|
||
|
|
blob->m20=x*x; blob->m02=y*y;
|
||
|
|
blob->internalContours.clear();
|
||
|
|
blobs.insert(CvLabelBlob(label,blob));
|
||
|
|
|
||
|
|
lastLabel = label;
|
||
|
|
lastBlob = blob;
|
||
|
|
|
||
|
|
blob->contour.startingPoint = cvPoint(x, y);
|
||
|
|
|
||
|
|
unsigned char direction=1;
|
||
|
|
unsigned int xx = x;
|
||
|
|
unsigned int yy = y;
|
||
|
|
|
||
|
|
|
||
|
|
bool contourEnd = false;
|
||
|
|
|
||
|
|
do
|
||
|
|
{
|
||
|
|
for (unsigned int numAttempts=0; numAttempts<3; numAttempts++)
|
||
|
|
{
|
||
|
|
bool found = false;
|
||
|
|
|
||
|
|
for (unsigned char i=0; i<3; i++)
|
||
|
|
{
|
||
|
|
int nx = xx+movesE[direction][i][0];
|
||
|
|
int ny = yy+movesE[direction][i][1];
|
||
|
|
if ((nx<imgIn_width)&&(nx>=0)&&(ny<imgIn_height)&&(ny>=0))
|
||
|
|
{
|
||
|
|
if (imageIn(nx, ny))
|
||
|
|
{
|
||
|
|
found = true;
|
||
|
|
|
||
|
|
blob->contour.chainCode.push_back(movesE[direction][i][3]);
|
||
|
|
|
||
|
|
xx=nx;
|
||
|
|
yy=ny;
|
||
|
|
|
||
|
|
direction=movesE[direction][i][2];
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
imageOut(nx, ny) = CV_BLOB_MAX_LABEL;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!found)
|
||
|
|
direction=(direction+1)%4;
|
||
|
|
else
|
||
|
|
{
|
||
|
|
imageOut(xx, yy) = label;
|
||
|
|
numPixels++;
|
||
|
|
|
||
|
|
if (xx<blob->minx) blob->minx = xx;
|
||
|
|
else if (xx>blob->maxx) blob->maxx = xx;
|
||
|
|
if (yy<blob->miny) blob->miny = yy;
|
||
|
|
else if (yy>blob->maxy) blob->maxy = yy;
|
||
|
|
|
||
|
|
blob->area++;
|
||
|
|
blob->m10+=xx; blob->m01+=yy;
|
||
|
|
blob->m11+=xx*yy;
|
||
|
|
blob->m20+=xx*xx; blob->m02+=yy*yy;
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (contourEnd = ((xx==x) && (yy==y) && (direction==1)))
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
while (!contourEnd);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if ((y+1<imgIn_height)&&(!imageIn(x, y+1))&&(!imageOut(x, y+1)))
|
||
|
|
{
|
||
|
|
labeled = true;
|
||
|
|
|
||
|
|
// Label internal contour
|
||
|
|
CvLabel l;
|
||
|
|
CvBlob *blob = NULL;
|
||
|
|
|
||
|
|
if (!imageOut(x, y))
|
||
|
|
{
|
||
|
|
/*if (!imageOut(x-1, y))
|
||
|
|
{
|
||
|
|
cerr << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << endl;
|
||
|
|
continue;
|
||
|
|
}*/
|
||
|
|
|
||
|
|
l = imageOut(x-1, y);
|
||
|
|
|
||
|
|
imageOut(x, y) = l;
|
||
|
|
numPixels++;
|
||
|
|
|
||
|
|
if (l==lastLabel)
|
||
|
|
blob = lastBlob;
|
||
|
|
else
|
||
|
|
{
|
||
|
|
blob = blobs.find(l)->second;
|
||
|
|
lastLabel = l;
|
||
|
|
lastBlob = blob;
|
||
|
|
}
|
||
|
|
blob->area++;
|
||
|
|
blob->m10+=x; blob->m01+=y;
|
||
|
|
blob->m11+=x*y;
|
||
|
|
blob->m20+=x*x; blob->m02+=y*y;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
l = imageOut(x, y);
|
||
|
|
|
||
|
|
if (l==lastLabel)
|
||
|
|
blob = lastBlob;
|
||
|
|
else
|
||
|
|
{
|
||
|
|
blob = blobs.find(l)->second;
|
||
|
|
lastLabel = l;
|
||
|
|
lastBlob = blob;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// XXX This is not necessary (I believe). I only do this for consistency.
|
||
|
|
imageOut(x, y+1) = CV_BLOB_MAX_LABEL;
|
||
|
|
|
||
|
|
CvContourChainCode *contour = new CvContourChainCode;
|
||
|
|
contour->startingPoint = cvPoint(x, y);
|
||
|
|
|
||
|
|
unsigned char direction = 3;
|
||
|
|
unsigned int xx = x;
|
||
|
|
unsigned int yy = y;
|
||
|
|
|
||
|
|
do
|
||
|
|
{
|
||
|
|
for (unsigned int numAttempts=0; numAttempts<3; numAttempts++)
|
||
|
|
{
|
||
|
|
bool found = false;
|
||
|
|
|
||
|
|
for (unsigned char i=0; i<3; i++)
|
||
|
|
{
|
||
|
|
int nx = xx+movesI[direction][i][0];
|
||
|
|
int ny = yy+movesI[direction][i][1];
|
||
|
|
if (imageIn(nx, ny))
|
||
|
|
{
|
||
|
|
found = true;
|
||
|
|
|
||
|
|
contour->chainCode.push_back(movesI[direction][i][3]);
|
||
|
|
|
||
|
|
xx=nx;
|
||
|
|
yy=ny;
|
||
|
|
|
||
|
|
direction=movesI[direction][i][2];
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
imageOut(nx, ny) = CV_BLOB_MAX_LABEL;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!found)
|
||
|
|
direction=(direction+1)%4;
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (!imageOut(xx, yy))
|
||
|
|
{
|
||
|
|
imageOut(xx, yy) = l;
|
||
|
|
numPixels++;
|
||
|
|
|
||
|
|
blob->area++;
|
||
|
|
blob->m10+=xx; blob->m01+=yy;
|
||
|
|
blob->m11+=xx*yy;
|
||
|
|
blob->m20+=xx*xx; blob->m02+=yy*yy;
|
||
|
|
}
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
while (!(xx==x && yy==y));
|
||
|
|
|
||
|
|
blob->internalContours.push_back(contour);
|
||
|
|
}
|
||
|
|
|
||
|
|
//else if (!imageOut(x, y))
|
||
|
|
if (!labeled)
|
||
|
|
{
|
||
|
|
// Internal pixel
|
||
|
|
CvLabel l = imageOut(x-1, y);
|
||
|
|
|
||
|
|
imageOut(x, y) = l;
|
||
|
|
numPixels++;
|
||
|
|
|
||
|
|
CvBlob *blob = NULL;
|
||
|
|
if (l==lastLabel)
|
||
|
|
blob = lastBlob;
|
||
|
|
else
|
||
|
|
{
|
||
|
|
blob = blobs.find(l)->second;
|
||
|
|
lastLabel = l;
|
||
|
|
lastBlob = blob;
|
||
|
|
}
|
||
|
|
blob->area++;
|
||
|
|
blob->m10+=x; blob->m01+=y;
|
||
|
|
blob->m11+=x*y;
|
||
|
|
blob->m20+=x*x; blob->m02+=y*y;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
for (CvBlobs::iterator it=blobs.begin(); it!=blobs.end(); ++it)
|
||
|
|
{
|
||
|
|
cvCentroid((*it).second);
|
||
|
|
|
||
|
|
(*it).second->u11 = (*it).second->m11 - ((*it).second->m10*(*it).second->m01)/(*it).second->m00;
|
||
|
|
(*it).second->u20 = (*it).second->m20 - ((*it).second->m10*(*it).second->m10)/(*it).second->m00;
|
||
|
|
(*it).second->u02 = (*it).second->m02 - ((*it).second->m01*(*it).second->m01)/(*it).second->m00;
|
||
|
|
|
||
|
|
double m00_2 = (*it).second->m00 * (*it).second->m00;
|
||
|
|
|
||
|
|
(*it).second->n11 = (*it).second->u11 / m00_2;
|
||
|
|
(*it).second->n20 = (*it).second->u20 / m00_2;
|
||
|
|
(*it).second->n02 = (*it).second->u02 / m00_2;
|
||
|
|
|
||
|
|
(*it).second->p1 = (*it).second->n20 + (*it).second->n02;
|
||
|
|
|
||
|
|
double nn = (*it).second->n20 - (*it).second->n02;
|
||
|
|
(*it).second->p2 = nn*nn + 4.*((*it).second->n11*(*it).second->n11);
|
||
|
|
}
|
||
|
|
|
||
|
|
return numPixels;
|
||
|
|
|
||
|
|
}
|
||
|
|
__CV_END__;
|
||
|
|
}
|
||
|
|
|
||
|
|
void cvFilterLabels(IplImage *imgIn, IplImage *imgOut, const CvBlobs &blobs)
|
||
|
|
{
|
||
|
|
CV_FUNCNAME("cvFilterLabels");
|
||
|
|
__CV_BEGIN__;
|
||
|
|
{
|
||
|
|
CV_ASSERT(imgIn&&(imgIn->depth==IPL_DEPTH_LABEL)&&(imgIn->nChannels==1));
|
||
|
|
CV_ASSERT(imgOut&&(imgOut->depth==IPL_DEPTH_8U)&&(imgOut->nChannels==1));
|
||
|
|
|
||
|
|
int stepIn = imgIn->widthStep / (imgIn->depth / 8);
|
||
|
|
int stepOut = imgOut->widthStep / (imgOut->depth / 8);
|
||
|
|
int imgIn_width = imgIn->width;
|
||
|
|
int imgIn_height = imgIn->height;
|
||
|
|
int imgIn_offset = 0;
|
||
|
|
int imgOut_width = imgOut->width;
|
||
|
|
int imgOut_height = imgOut->height;
|
||
|
|
int imgOut_offset = 0;
|
||
|
|
if(imgIn->roi)
|
||
|
|
{
|
||
|
|
imgIn_width = imgIn->roi->width;
|
||
|
|
imgIn_height = imgIn->roi->height;
|
||
|
|
imgIn_offset = imgIn->roi->xOffset + (imgIn->roi->yOffset * stepIn);
|
||
|
|
}
|
||
|
|
if(imgOut->roi)
|
||
|
|
{
|
||
|
|
imgOut_width = imgOut->roi->width;
|
||
|
|
imgOut_height = imgOut->roi->height;
|
||
|
|
imgOut_offset = imgOut->roi->xOffset + (imgOut->roi->yOffset * stepOut);
|
||
|
|
}
|
||
|
|
|
||
|
|
char *imgDataOut=imgOut->imageData + imgOut_offset;
|
||
|
|
CvLabel *imgDataIn=(CvLabel *)imgIn->imageData + imgIn_offset;
|
||
|
|
|
||
|
|
for (unsigned int r=0;r<(unsigned int)imgIn_height;r++,
|
||
|
|
imgDataIn+=stepIn,imgDataOut+=stepOut)
|
||
|
|
{
|
||
|
|
for (unsigned int c=0;c<(unsigned int)imgIn_width;c++)
|
||
|
|
{
|
||
|
|
if (imgDataIn[c])
|
||
|
|
{
|
||
|
|
if (blobs.find(imgDataIn[c])==blobs.end()) imgDataOut[c]=0x00;
|
||
|
|
else imgDataOut[c]=(char)0xff;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
imgDataOut[c]=0x00;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
__CV_END__;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
CvLabel cvGetLabel(IplImage const *img, unsigned int x, unsigned int y)
|
||
|
|
{
|
||
|
|
CV_FUNCNAME("cvGetLabel");
|
||
|
|
__CV_BEGIN__;
|
||
|
|
{
|
||
|
|
CV_ASSERT(img&&(img->depth==IPL_DEPTH_LABEL)&&(img->nChannels==1));
|
||
|
|
|
||
|
|
int step = img->widthStep / (img->depth / 8);
|
||
|
|
int img_width = 0;
|
||
|
|
int img_height= 0;
|
||
|
|
int img_offset = 0;
|
||
|
|
if(img->roi)
|
||
|
|
{
|
||
|
|
img_width = img->roi->width;
|
||
|
|
img_height = img->roi->height;
|
||
|
|
img_offset = img->roi->xOffset + (img->roi->yOffset * step);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
img_width = img->width;
|
||
|
|
img_height= img->height;
|
||
|
|
}
|
||
|
|
|
||
|
|
CV_ASSERT((x>=0)&&(x<img_width)&&(y>=0)&&(y<img_height));
|
||
|
|
|
||
|
|
return ((CvLabel *)(img->imageData + img_offset))[x + y*step];
|
||
|
|
}
|
||
|
|
__CV_END__;
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|