3dpcp/3rdparty/cvblob/cvlabel.cpp

// 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>
#elif (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
#include <opencv/cv.h>
#else
#include <opencv2/opencv.hpp>
#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__;
  }

}