3dpcp/.svn/pristine/b6/b62f577147cad52c32adc591f81c8c802b0b0a55.svn-base
2012-09-16 14:33:11 +02:00

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// 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__;
}
}