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857 lines
24 KiB
C++
857 lines
24 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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/****************************************************************************************\
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* Chain Approximation *
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\****************************************************************************************/
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typedef struct _CvPtInfo
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{
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CvPoint pt;
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int k; /* support region */
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int s; /* curvature value */
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struct _CvPtInfo *next;
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}
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_CvPtInfo;
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/* curvature: 0 - 1-curvature, 1 - k-cosine curvature. */
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CvSeq* icvApproximateChainTC89( CvChain* chain, int header_size,
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CvMemStorage* storage, int method )
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{
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static const int abs_diff[] = { 1, 2, 3, 4, 3, 2, 1, 0, 1, 2, 3, 4, 3, 2, 1 };
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cv::AutoBuffer<_CvPtInfo> buf(chain->total + 8);
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_CvPtInfo temp;
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_CvPtInfo *array = buf.data(), *first = 0, *current = 0, *prev_current = 0;
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int i, j, i1, i2, s, len;
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int count = chain->total;
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CvChainPtReader reader;
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CvSeqWriter writer;
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CvPoint pt = chain->origin;
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CV_Assert( CV_IS_SEQ_CHAIN_CONTOUR( chain ));
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CV_Assert( header_size >= (int)sizeof(CvContour) );
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cvStartWriteSeq( (chain->flags & ~CV_SEQ_ELTYPE_MASK) | CV_SEQ_ELTYPE_POINT,
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header_size, sizeof( CvPoint ), storage, &writer );
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if( chain->total == 0 )
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{
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CV_WRITE_SEQ_ELEM( pt, writer );
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return cvEndWriteSeq( &writer );
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}
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reader.code = 0;
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cvStartReadChainPoints( chain, &reader );
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temp.next = 0;
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current = &temp;
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/* Pass 0.
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Restores all the digital curve points from the chain code.
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Removes the points (from the resultant polygon)
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that have zero 1-curvature */
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for( i = 0; i < count; i++ )
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{
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int prev_code = *reader.prev_elem;
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reader.prev_elem = reader.ptr;
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CV_READ_CHAIN_POINT( pt, reader );
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/* calc 1-curvature */
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s = abs_diff[reader.code - prev_code + 7];
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if( method <= CV_CHAIN_APPROX_SIMPLE )
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{
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if( method == CV_CHAIN_APPROX_NONE || s != 0 )
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{
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CV_WRITE_SEQ_ELEM( pt, writer );
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}
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}
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else
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{
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if( s != 0 )
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current = current->next = array + i;
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array[i].s = s;
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array[i].pt = pt;
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}
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}
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//assert( pt.x == chain->origin.x && pt.y == chain->origin.y );
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if( method <= CV_CHAIN_APPROX_SIMPLE )
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return cvEndWriteSeq( &writer );
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current->next = 0;
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len = i;
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current = temp.next;
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assert( current );
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/* Pass 1.
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Determines support region for all the remained points */
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do
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{
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cv::Point2i pt0;
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int k, l = 0, d_num = 0;
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i = (int)(current - array);
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pt0 = array[i].pt;
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/* determine support region */
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for( k = 1;; k++ )
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{
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int lk, dk_num;
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int dx, dy;
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Cv32suf d;
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assert( k <= len );
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/* calc indices */
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i1 = i - k;
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i1 += i1 < 0 ? len : 0;
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i2 = i + k;
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i2 -= i2 >= len ? len : 0;
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dx = array[i2].pt.x - array[i1].pt.x;
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dy = array[i2].pt.y - array[i1].pt.y;
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/* distance between p_(i - k) and p_(i + k) */
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lk = dx * dx + dy * dy;
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/* distance between p_i and the line (p_(i-k), p_(i+k)) */
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dk_num = (pt0.x - array[i1].pt.x) * dy - (pt0.y - array[i1].pt.y) * dx;
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d.f = (float) (((double) d_num) * lk - ((double) dk_num) * l);
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if( k > 1 && (l >= lk || ((d_num > 0 && d.i <= 0) || (d_num < 0 && d.i >= 0))))
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break;
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d_num = dk_num;
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l = lk;
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}
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current->k = --k;
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/* determine cosine curvature if it should be used */
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if( method == CV_CHAIN_APPROX_TC89_KCOS )
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{
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/* calc k-cosine curvature */
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for( j = k, s = 0; j > 0; j-- )
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{
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double temp_num;
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int dx1, dy1, dx2, dy2;
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Cv32suf sk;
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i1 = i - j;
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i1 += i1 < 0 ? len : 0;
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i2 = i + j;
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i2 -= i2 >= len ? len : 0;
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dx1 = array[i1].pt.x - pt0.x;
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dy1 = array[i1].pt.y - pt0.y;
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dx2 = array[i2].pt.x - pt0.x;
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dy2 = array[i2].pt.y - pt0.y;
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if( (dx1 | dy1) == 0 || (dx2 | dy2) == 0 )
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break;
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temp_num = dx1 * dx2 + dy1 * dy2;
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temp_num =
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(float) (temp_num /
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sqrt( ((double)dx1 * dx1 + (double)dy1 * dy1) *
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((double)dx2 * dx2 + (double)dy2 * dy2) ));
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sk.f = (float) (temp_num + 1.1);
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assert( 0 <= sk.f && sk.f <= 2.2 );
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if( j < k && sk.i <= s )
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break;
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s = sk.i;
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}
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current->s = s;
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}
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current = current->next;
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}
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while( current != 0 );
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prev_current = &temp;
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current = temp.next;
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/* Pass 2.
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Performs non-maxima suppression */
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do
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{
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int k2 = current->k >> 1;
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s = current->s;
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i = (int)(current - array);
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for( j = 1; j <= k2; j++ )
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{
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i2 = i - j;
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i2 += i2 < 0 ? len : 0;
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if( array[i2].s > s )
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break;
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i2 = i + j;
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i2 -= i2 >= len ? len : 0;
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if( array[i2].s > s )
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break;
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}
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if( j <= k2 ) /* exclude point */
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{
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prev_current->next = current->next;
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current->s = 0; /* "clear" point */
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}
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else
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prev_current = current;
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current = current->next;
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}
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while( current != 0 );
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/* Pass 3.
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Removes non-dominant points with 1-length support region */
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current = temp.next;
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assert( current );
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prev_current = &temp;
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do
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{
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if( current->k == 1 )
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{
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s = current->s;
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i = (int)(current - array);
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i1 = i - 1;
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i1 += i1 < 0 ? len : 0;
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i2 = i + 1;
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i2 -= i2 >= len ? len : 0;
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if( s <= array[i1].s || s <= array[i2].s )
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{
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prev_current->next = current->next;
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current->s = 0;
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}
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else
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prev_current = current;
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}
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else
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prev_current = current;
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current = current->next;
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}
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while( current != 0 );
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if( method == CV_CHAIN_APPROX_TC89_KCOS )
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goto copy_vect;
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/* Pass 4.
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Cleans remained couples of points */
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assert( temp.next );
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if( array[0].s != 0 && array[len - 1].s != 0 ) /* specific case */
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{
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for( i1 = 1; i1 < len && array[i1].s != 0; i1++ )
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{
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array[i1 - 1].s = 0;
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}
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if( i1 == len )
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goto copy_vect; /* all points survived */
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i1--;
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for( i2 = len - 2; i2 > 0 && array[i2].s != 0; i2-- )
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{
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array[i2].next = 0;
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array[i2 + 1].s = 0;
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}
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i2++;
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if( i1 == 0 && i2 == len - 1 ) /* only two points */
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{
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i1 = (int)(array[0].next - array);
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array[len] = array[0]; /* move to the end */
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array[len].next = 0;
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array[len - 1].next = array + len;
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}
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temp.next = array + i1;
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}
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current = temp.next;
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first = prev_current = &temp;
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count = 1;
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/* do last pass */
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do
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{
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if( current->next == 0 || current->next - current != 1 )
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{
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if( count >= 2 )
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{
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if( count == 2 )
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{
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int s1 = prev_current->s;
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int s2 = current->s;
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if( s1 > s2 || (s1 == s2 && prev_current->k <= current->k) )
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/* remove second */
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prev_current->next = current->next;
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else
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/* remove first */
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first->next = current;
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}
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else
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first->next->next = current;
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}
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first = current;
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count = 1;
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}
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else
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count++;
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prev_current = current;
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current = current->next;
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}
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while( current != 0 );
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copy_vect:
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// gather points
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current = temp.next;
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assert( current );
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do
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{
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CV_WRITE_SEQ_ELEM( current->pt, writer );
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current = current->next;
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}
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while( current != 0 );
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return cvEndWriteSeq( &writer );
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}
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/*Applies some approximation algorithm to chain-coded contour(s) and
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converts it/them to polygonal representation */
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CV_IMPL CvSeq*
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cvApproxChains( CvSeq* src_seq,
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CvMemStorage* storage,
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int method,
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double /*parameter*/,
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int minimal_perimeter,
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int recursive )
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{
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CvSeq *prev_contour = 0, *parent = 0;
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CvSeq *dst_seq = 0;
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if( !src_seq || !storage )
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CV_Error( CV_StsNullPtr, "" );
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if( method > CV_CHAIN_APPROX_TC89_KCOS || method <= 0 || minimal_perimeter < 0 )
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CV_Error( CV_StsOutOfRange, "" );
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while( src_seq != 0 )
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{
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int len = src_seq->total;
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if( len >= minimal_perimeter )
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{
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CvSeq *contour = 0;
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switch( method )
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{
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case CV_CHAIN_APPROX_NONE:
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case CV_CHAIN_APPROX_SIMPLE:
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case CV_CHAIN_APPROX_TC89_L1:
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case CV_CHAIN_APPROX_TC89_KCOS:
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contour = icvApproximateChainTC89( (CvChain *) src_seq, sizeof( CvContour ), storage, method );
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break;
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default:
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CV_Error( CV_StsOutOfRange, "" );
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}
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if( contour->total > 0 )
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{
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cvBoundingRect( contour, 1 );
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contour->v_prev = parent;
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contour->h_prev = prev_contour;
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if( prev_contour )
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prev_contour->h_next = contour;
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else if( parent )
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parent->v_next = contour;
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prev_contour = contour;
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if( !dst_seq )
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dst_seq = prev_contour;
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}
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else /* if resultant contour has zero length, skip it */
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{
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len = -1;
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}
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}
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if( !recursive )
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break;
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if( src_seq->v_next && len >= minimal_perimeter )
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{
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assert( prev_contour != 0 );
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parent = prev_contour;
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prev_contour = 0;
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src_seq = src_seq->v_next;
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}
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else
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{
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while( src_seq->h_next == 0 )
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{
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src_seq = src_seq->v_prev;
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if( src_seq == 0 )
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break;
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prev_contour = parent;
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if( parent )
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parent = parent->v_prev;
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}
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if( src_seq )
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src_seq = src_seq->h_next;
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}
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}
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return dst_seq;
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}
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/****************************************************************************************\
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* Polygonal Approximation *
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\****************************************************************************************/
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/* Ramer-Douglas-Peucker algorithm for polygon simplification */
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namespace cv
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{
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template<typename T> static int
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approxPolyDP_( const Point_<T>* src_contour, int count0, Point_<T>* dst_contour,
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bool is_closed0, double eps, AutoBuffer<Range>& _stack )
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{
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#define PUSH_SLICE(slice) \
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if( top >= stacksz ) \
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{ \
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_stack.resize(stacksz*3/2); \
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stack = _stack.data(); \
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stacksz = _stack.size(); \
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} \
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stack[top++] = slice
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#define READ_PT(pt, pos) \
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pt = src_contour[pos]; \
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if( ++pos >= count ) pos = 0
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#define READ_DST_PT(pt, pos) \
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pt = dst_contour[pos]; \
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if( ++pos >= count ) pos = 0
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#define WRITE_PT(pt) \
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dst_contour[new_count++] = pt
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typedef cv::Point_<T> PT;
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int init_iters = 3;
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Range slice(0, 0), right_slice(0, 0);
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PT start_pt((T)-1000000, (T)-1000000), end_pt(0, 0), pt(0,0);
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int i = 0, j, pos = 0, wpos, count = count0, new_count=0;
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int is_closed = is_closed0;
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bool le_eps = false;
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size_t top = 0, stacksz = _stack.size();
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Range* stack = _stack.data();
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if( count == 0 )
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return 0;
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eps *= eps;
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if( !is_closed )
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{
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right_slice.start = count;
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end_pt = src_contour[0];
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start_pt = src_contour[count-1];
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if( start_pt.x != end_pt.x || start_pt.y != end_pt.y )
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{
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slice.start = 0;
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slice.end = count - 1;
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PUSH_SLICE(slice);
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}
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else
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{
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is_closed = 1;
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init_iters = 1;
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}
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}
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if( is_closed )
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{
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// 1. Find approximately two farthest points of the contour
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right_slice.start = 0;
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for( i = 0; i < init_iters; i++ )
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{
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double dist, max_dist = 0;
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pos = (pos + right_slice.start) % count;
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READ_PT(start_pt, pos);
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for( j = 1; j < count; j++ )
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{
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double dx, dy;
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READ_PT(pt, pos);
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dx = pt.x - start_pt.x;
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dy = pt.y - start_pt.y;
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dist = dx * dx + dy * dy;
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if( dist > max_dist )
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{
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max_dist = dist;
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right_slice.start = j;
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}
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}
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|
|
le_eps = max_dist <= eps;
|
|
}
|
|
|
|
// 2. initialize the stack
|
|
if( !le_eps )
|
|
{
|
|
right_slice.end = slice.start = pos % count;
|
|
slice.end = right_slice.start = (right_slice.start + slice.start) % count;
|
|
|
|
PUSH_SLICE(right_slice);
|
|
PUSH_SLICE(slice);
|
|
}
|
|
else
|
|
WRITE_PT(start_pt);
|
|
}
|
|
|
|
// 3. run recursive process
|
|
while( top > 0 )
|
|
{
|
|
slice = stack[--top];
|
|
end_pt = src_contour[slice.end];
|
|
pos = slice.start;
|
|
READ_PT(start_pt, pos);
|
|
|
|
if( pos != slice.end )
|
|
{
|
|
double dx, dy, dist, max_dist = 0;
|
|
|
|
dx = end_pt.x - start_pt.x;
|
|
dy = end_pt.y - start_pt.y;
|
|
|
|
assert( dx != 0 || dy != 0 );
|
|
|
|
while( pos != slice.end )
|
|
{
|
|
READ_PT(pt, pos);
|
|
dist = fabs((pt.y - start_pt.y) * dx - (pt.x - start_pt.x) * dy);
|
|
|
|
if( dist > max_dist )
|
|
{
|
|
max_dist = dist;
|
|
right_slice.start = (pos+count-1)%count;
|
|
}
|
|
}
|
|
|
|
le_eps = max_dist * max_dist <= eps * (dx * dx + dy * dy);
|
|
}
|
|
else
|
|
{
|
|
le_eps = true;
|
|
// read starting point
|
|
start_pt = src_contour[slice.start];
|
|
}
|
|
|
|
if( le_eps )
|
|
{
|
|
WRITE_PT(start_pt);
|
|
}
|
|
else
|
|
{
|
|
right_slice.end = slice.end;
|
|
slice.end = right_slice.start;
|
|
PUSH_SLICE(right_slice);
|
|
PUSH_SLICE(slice);
|
|
}
|
|
}
|
|
|
|
if( !is_closed )
|
|
WRITE_PT( src_contour[count-1] );
|
|
|
|
// last stage: do final clean-up of the approximated contour -
|
|
// remove extra points on the [almost] stright lines.
|
|
is_closed = is_closed0;
|
|
count = new_count;
|
|
pos = is_closed ? count - 1 : 0;
|
|
READ_DST_PT(start_pt, pos);
|
|
wpos = pos;
|
|
READ_DST_PT(pt, pos);
|
|
|
|
for( i = !is_closed; i < count - !is_closed && new_count > 2; i++ )
|
|
{
|
|
double dx, dy, dist, successive_inner_product;
|
|
READ_DST_PT( end_pt, pos );
|
|
|
|
dx = end_pt.x - start_pt.x;
|
|
dy = end_pt.y - start_pt.y;
|
|
dist = fabs((pt.x - start_pt.x)*dy - (pt.y - start_pt.y)*dx);
|
|
successive_inner_product = (pt.x - start_pt.x) * (end_pt.x - pt.x) +
|
|
(pt.y - start_pt.y) * (end_pt.y - pt.y);
|
|
|
|
if( dist * dist <= 0.5*eps*(dx*dx + dy*dy) && dx != 0 && dy != 0 &&
|
|
successive_inner_product >= 0 )
|
|
{
|
|
new_count--;
|
|
dst_contour[wpos] = start_pt = end_pt;
|
|
if(++wpos >= count) wpos = 0;
|
|
READ_DST_PT(pt, pos);
|
|
i++;
|
|
continue;
|
|
}
|
|
dst_contour[wpos] = start_pt = pt;
|
|
if(++wpos >= count) wpos = 0;
|
|
pt = end_pt;
|
|
}
|
|
|
|
if( !is_closed )
|
|
dst_contour[wpos] = pt;
|
|
|
|
return new_count;
|
|
}
|
|
|
|
}
|
|
|
|
void cv::approxPolyDP( InputArray _curve, OutputArray _approxCurve,
|
|
double epsilon, bool closed )
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
Mat curve = _curve.getMat();
|
|
int npoints = curve.checkVector(2), depth = curve.depth();
|
|
CV_Assert( npoints >= 0 && (depth == CV_32S || depth == CV_32F));
|
|
|
|
if( npoints == 0 )
|
|
{
|
|
_approxCurve.release();
|
|
return;
|
|
}
|
|
|
|
AutoBuffer<Point> _buf(npoints);
|
|
AutoBuffer<Range> _stack(npoints);
|
|
Point* buf = _buf.data();
|
|
int nout = 0;
|
|
|
|
if( depth == CV_32S )
|
|
nout = approxPolyDP_(curve.ptr<Point>(), npoints, buf, closed, epsilon, _stack);
|
|
else if( depth == CV_32F )
|
|
nout = approxPolyDP_(curve.ptr<Point2f>(), npoints, (Point2f*)buf, closed, epsilon, _stack);
|
|
else
|
|
CV_Error( CV_StsUnsupportedFormat, "" );
|
|
|
|
Mat(nout, 1, CV_MAKETYPE(depth, 2), buf).copyTo(_approxCurve);
|
|
}
|
|
|
|
|
|
CV_IMPL CvSeq*
|
|
cvApproxPoly( const void* array, int header_size,
|
|
CvMemStorage* storage, int method,
|
|
double parameter, int parameter2 )
|
|
{
|
|
cv::AutoBuffer<cv::Point> _buf;
|
|
cv::AutoBuffer<cv::Range> stack(100);
|
|
CvSeq* dst_seq = 0;
|
|
CvSeq *prev_contour = 0, *parent = 0;
|
|
CvContour contour_header;
|
|
CvSeq* src_seq = 0;
|
|
CvSeqBlock block;
|
|
int recursive = 0;
|
|
|
|
if( CV_IS_SEQ( array ))
|
|
{
|
|
src_seq = (CvSeq*)array;
|
|
if( !CV_IS_SEQ_POLYLINE( src_seq ))
|
|
CV_Error( CV_StsBadArg, "Unsupported sequence type" );
|
|
|
|
recursive = parameter2;
|
|
|
|
if( !storage )
|
|
storage = src_seq->storage;
|
|
}
|
|
else
|
|
{
|
|
src_seq = cvPointSeqFromMat(
|
|
CV_SEQ_KIND_CURVE | (parameter2 ? CV_SEQ_FLAG_CLOSED : 0),
|
|
array, &contour_header, &block );
|
|
}
|
|
|
|
if( !storage )
|
|
CV_Error( CV_StsNullPtr, "NULL storage pointer " );
|
|
|
|
if( header_size < 0 )
|
|
CV_Error( CV_StsOutOfRange, "header_size is negative. "
|
|
"Pass 0 to make the destination header_size == input header_size" );
|
|
|
|
if( header_size == 0 )
|
|
header_size = src_seq->header_size;
|
|
|
|
if( !CV_IS_SEQ_POLYLINE( src_seq ))
|
|
{
|
|
if( CV_IS_SEQ_CHAIN( src_seq ))
|
|
{
|
|
CV_Error( CV_StsBadArg, "Input curves are not polygonal. "
|
|
"Use cvApproxChains first" );
|
|
}
|
|
else
|
|
{
|
|
CV_Error( CV_StsBadArg, "Input curves have unknown type" );
|
|
}
|
|
}
|
|
|
|
if( header_size == 0 )
|
|
header_size = src_seq->header_size;
|
|
|
|
if( header_size < (int)sizeof(CvContour) )
|
|
CV_Error( CV_StsBadSize, "New header size must be non-less than sizeof(CvContour)" );
|
|
|
|
if( method != CV_POLY_APPROX_DP )
|
|
CV_Error( CV_StsOutOfRange, "Unknown approximation method" );
|
|
|
|
while( src_seq != 0 )
|
|
{
|
|
CvSeq *contour = 0;
|
|
|
|
switch (method)
|
|
{
|
|
case CV_POLY_APPROX_DP:
|
|
if( parameter < 0 )
|
|
CV_Error( CV_StsOutOfRange, "Accuracy must be non-negative" );
|
|
|
|
CV_Assert( CV_SEQ_ELTYPE(src_seq) == CV_32SC2 ||
|
|
CV_SEQ_ELTYPE(src_seq) == CV_32FC2 );
|
|
|
|
{
|
|
int npoints = src_seq->total, nout = 0;
|
|
_buf.allocate(npoints*2);
|
|
cv::Point *src = _buf.data(), *dst = src + npoints;
|
|
bool closed = CV_IS_SEQ_CLOSED(src_seq);
|
|
|
|
if( src_seq->first->next == src_seq->first )
|
|
src = (cv::Point*)src_seq->first->data;
|
|
else
|
|
cvCvtSeqToArray(src_seq, src);
|
|
|
|
if( CV_SEQ_ELTYPE(src_seq) == CV_32SC2 )
|
|
nout = cv::approxPolyDP_(src, npoints, dst, closed, parameter, stack);
|
|
else if( CV_SEQ_ELTYPE(src_seq) == CV_32FC2 )
|
|
nout = cv::approxPolyDP_((cv::Point2f*)src, npoints,
|
|
(cv::Point2f*)dst, closed, parameter, stack);
|
|
else
|
|
CV_Error( CV_StsUnsupportedFormat, "" );
|
|
|
|
contour = cvCreateSeq( src_seq->flags, header_size,
|
|
src_seq->elem_size, storage );
|
|
cvSeqPushMulti(contour, dst, nout);
|
|
}
|
|
break;
|
|
default:
|
|
CV_Error( CV_StsBadArg, "Invalid approximation method" );
|
|
}
|
|
|
|
assert( contour );
|
|
|
|
if( header_size >= (int)sizeof(CvContour))
|
|
cvBoundingRect( contour, 1 );
|
|
|
|
contour->v_prev = parent;
|
|
contour->h_prev = prev_contour;
|
|
|
|
if( prev_contour )
|
|
prev_contour->h_next = contour;
|
|
else if( parent )
|
|
parent->v_next = contour;
|
|
prev_contour = contour;
|
|
if( !dst_seq )
|
|
dst_seq = prev_contour;
|
|
|
|
if( !recursive )
|
|
break;
|
|
|
|
if( src_seq->v_next )
|
|
{
|
|
assert( prev_contour != 0 );
|
|
parent = prev_contour;
|
|
prev_contour = 0;
|
|
src_seq = src_seq->v_next;
|
|
}
|
|
else
|
|
{
|
|
while( src_seq->h_next == 0 )
|
|
{
|
|
src_seq = src_seq->v_prev;
|
|
if( src_seq == 0 )
|
|
break;
|
|
prev_contour = parent;
|
|
if( parent )
|
|
parent = parent->v_prev;
|
|
}
|
|
if( src_seq )
|
|
src_seq = src_seq->h_next;
|
|
}
|
|
}
|
|
|
|
return dst_seq;
|
|
}
|
|
|
|
/* End of file. */
|