vpContours.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Basic contours extraction based on the original work of
 * Sina Samangooei (ss@ecs.soton.ac.uk).
 */
#include <map>
#include <visp3/imgproc/vpImgproc.h>
 
namespace
{
bool fromTo(const vpImagePoint &from, const vpImagePoint &to, vpDirection &direction)
{
  if (from == to) {
    return false;
  }
 
  if (std::fabs(from.get_i() - to.get_i()) < std::numeric_limits<double>::epsilon()) {
    if (from.get_j() < to.get_j()) {
      direction.m_direction = EAST;
    }
    else {
      direction.m_direction = WEST;
    }
  }
  else if (from.get_i() < to.get_i()) {
    if (std::fabs(from.get_j() - to.get_j()) < std::numeric_limits<double>::epsilon()) {
      direction.m_direction = SOUTH;
    }
    else if (from.get_j() < to.get_j()) {
      direction.m_direction = SOUTH_EAST;
    }
    else {
      direction.m_direction = SOUTH_WEST;
    }
  }
  else {
    if (std::fabs(from.get_j() - to.get_j()) < std::numeric_limits<double>::epsilon()) {
      direction.m_direction = NORTH;
    }
    else if (from.get_j() < to.get_j()) {
      direction.m_direction = NORTH_EAST;
    }
    else {
      direction.m_direction = NORTH_WEST;
    }
  }
 
  return true;
}
 
bool crossesEastBorder(const vpImage<int> &I, bool checked[8], const vpImagePoint &point)
{
  vpDirection direction;
  if (!fromTo(point, vpImagePoint(point.get_i(), point.get_j() + 1), direction)) {
    return false;
  }
 
  bool b = checked[static_cast<int>(direction.m_direction)];
 
  if ((point.get_i() < 0) || (point.get_j() < 0)) {
    return false;
  }
 
  unsigned int i = static_cast<unsigned int>(point.get_i());
  unsigned int j = static_cast<unsigned int>(point.get_j());
 
  return (I[i][j] != 0) && ((static_cast<unsigned int>(point.get_j()) == (I.getWidth() - 1)) || b);
}
 
void addContourPoint(vpImage<int> &I, vp::vpContour *border, const vpImagePoint &point, bool checked[8], int nbd)
{
  border->m_points.push_back(vpImagePoint(point.get_i() - 1, point.get_j() - 1)); // remove 1-pixel padding
 
  unsigned int i = static_cast<unsigned int>(point.get_i());
  unsigned int j = static_cast<unsigned int>(point.get_j());
 
  if (crossesEastBorder(I, checked, point)) {
    I[i][j] = -nbd;
  }
  else if (I[i][j] == 1) {
    // Only set if the pixel has not been visited before (3.4) (b)
    I[i][j] = nbd;
  } // Otherwise leave it alone
}
 
void followBorder(vpImage<int> &I, const vpImagePoint &ij, vpImagePoint &i2j2, vp::vpContour *border, int nbd)
{
  vpDirection dir;
  if (!fromTo(ij, i2j2, dir)) {
    throw vpException(vpException::fatalError, "ij == i2j2");
  }
 
  vpDirection trace = dir.clockwise();
  vpImagePoint i1j1(-1, -1);
 
  // --comment: find i1j1 3.1
  while (trace.m_direction != dir.m_direction) {
    vpImagePoint activePixel = trace.active(I, ij);
 
    if ((activePixel.get_i() >= 0) && (activePixel.get_j() >= 0)) {
      i1j1 = activePixel;
      break;
    }
 
    trace = trace.clockwise();
  }
 
  if ((i1j1.get_i() < 0) || (i1j1.get_j() < 0)) {
    //(3.1) ; single pixel contour
    return;
  }
 
  i2j2 = i1j1;
  vpImagePoint i3j3 = ij; //(3.2)
 
  bool checked[8] = { false, false, false, false, false, false, false, false };
 
  while (true) {
    if (!fromTo(i3j3, i2j2, dir)) {
      throw vpException(vpException::fatalError, "i3j3 == i2j2");
    }
 
    trace = dir.counterClockwise();
    vpImagePoint i4j4(-1, -1);
 
    // Reset checked
    for (int cpt = 0; cpt < 8; ++cpt) {
      checked[cpt] = false;
    }
 
    while (true) {
      i4j4 = trace.active(I, i3j3); //(3.3)
      if ((i4j4.get_i() >= 0) && (i4j4.get_j() >= 0)) {
        break;
      }
 
      checked[static_cast<int>(trace.m_direction)] = true;
      trace = trace.counterClockwise();
    }
 
    addContourPoint(I, border, i3j3, checked, nbd);
 
    if ((i4j4 == ij) && (i3j3 == i1j1)) {
      //(3.5)
      break;
    }
 
    //(3.5)
    i2j2 = i3j3;
    i3j3 = i4j4;
  }
}
 
bool isOuterBorderStart(const vpImage<int> &I, unsigned int i, unsigned int j)
{
  return ((I[i][j] == 1) && ((j == 0) || (I[i][j - 1] == 0)));
}
 
bool isHoleBorderStart(const vpImage<int> &I, unsigned int i, unsigned int j)
{
  return ((I[i][j] >= 1) && ((j == (I.getWidth() - 1)) || (I[i][j + 1] == 0)));
}
 
void getContoursList(const vp::vpContour &root, int level, vp::vpContour &contour_list)
{
  if ((level > 0) && (level < std::numeric_limits<int>::max())) {
    vp::vpContour *contour_node = new vp::vpContour;
    contour_node->m_contourType = root.m_contourType;
    contour_node->m_points = root.m_points;
 
    contour_list.m_children.push_back(contour_node);
  }
 
  std::vector<vp::vpContour *>::const_iterator root_m_children_end = root.m_children.end();
  for (std::vector<vp::vpContour *>::const_iterator it = root.m_children.begin(); it != root_m_children_end; ++it) {
    getContoursList(**it, level + 1, contour_list);
  }
}
} // namespace
 
namespace vp
{
void drawContours(vpImage<unsigned char> &I, const std::vector<std::vector<vpImagePoint> > &contours, unsigned char grayValue)
{
  if (I.getSize() == 0) {
    return;
  }
 
  std::vector<std::vector<vpImagePoint> >::const_iterator contours_end = contours.end();
  for (std::vector<std::vector<vpImagePoint> >::const_iterator it1 = contours.begin(); it1 != contours_end; ++it1) {
    std::vector<vpImagePoint>::const_iterator it1_end = it1->end();
    for (std::vector<vpImagePoint>::const_iterator it2 = it1->begin(); it2 != it1_end; ++it2) {
      unsigned int i = static_cast<unsigned int>(it2->get_i());
      unsigned int j = static_cast<unsigned int>(it2->get_j());
      I[i][j] = grayValue;
    }
  }
}
 
void drawContours(vpImage<vpRGBa> &I, const std::vector<std::vector<vpImagePoint> > &contours, const vpColor &color)
{
  if (I.getSize() == 0) {
    return;
  }
 
  std::vector<std::vector<vpImagePoint> >::const_iterator contours_end = contours.end();
  for (std::vector<std::vector<vpImagePoint> >::const_iterator it1 = contours.begin(); it1 != contours_end; ++it1) {
    std::vector<vpImagePoint>::const_iterator it1_end = it1->end();
    for (std::vector<vpImagePoint>::const_iterator it2 = it1->begin(); it2 != it1_end; ++it2) {
      unsigned int i = static_cast<unsigned int>(it2->get_i());
      unsigned int j = static_cast<unsigned int>(it2->get_j());
      I[i][j] = vpRGBa(color.R, color.G, color.B);
    }
  }
}
 
void findContours(const vpImage<unsigned char> &I_original, vpContour &contours,
                  std::vector<std::vector<vpImagePoint> > &contourPts, const vpContourRetrievalType &retrievalMode)
{
  if (I_original.getSize() == 0) {
    return;
  }
 
  // Clear output results
  contourPts.clear();
 
  // Copy uchar I_original into int I + padding
  vpImage<int> I(I_original.getHeight() + 2, I_original.getWidth() + 2);
 
  unsigned int i_height = I.getHeight();
  unsigned int i_width = I.getWidth();
  unsigned int i_original_width = I_original.getWidth();
 
  for (unsigned int i = 0; i < i_height; ++i) {
    if ((i == 0) || (i == (i_height - 1))) {
      memset(I.bitmap, 0, sizeof(int) * i_width);
    }
    else {
      I[i][0] = 0;
      for (unsigned int j = 0; j < i_original_width; ++j) {
        I[i][j + 1] = I_original[i - 1][j];
      }
      I[i][i_width - 1] = 0;
    }
  }
 
  // Ref: http://openimaj.org/
  // Ref: Satoshi Suzuki and others. Topological structural analysis of
  // digitized binary images by border following.
  int nbd = 1;  // Newest border
  int lnbd = 1; // Last newest border
 
  // Background contour
  // By default the root contour is a hole contour
  vpContour *root = new vpContour(vp::CONTOUR_HOLE);
 
  std::map<int, vpContour *> borderMap;
  borderMap[lnbd] = root;
 
  for (unsigned int i = 0; i < i_height; ++i) {
    lnbd = 1; // Reset LNBD at the beginning of each scan row
 
    for (unsigned int j = 0; j < i_width; ++j) {
      int fji = I[i][j];
 
      bool isOuter = isOuterBorderStart(I, i, j);
      bool isHole = isHoleBorderStart(I, i, j);
 
      if (isOuter || isHole) { // else (1) (c)
        vpContour *border = new vpContour;
        vpContour *borderPrime = nullptr;
        vpImagePoint from(i, j);
 
        if (isOuter) {
          //(1) (a)
          ++nbd;
          from.set_j(from.get_j() - 1);
          border->m_contourType = vp::CONTOUR_OUTER;
          borderPrime = borderMap[lnbd];
 
          // Table 1
          switch (borderPrime->m_contourType) {
          case vp::CONTOUR_OUTER:
            border->setParent(borderPrime->m_parent);
            break;
 
          case vp::CONTOUR_HOLE:
            border->setParent(borderPrime);
            break;
 
          default:
            break;
          }
        }
        else {
          //(1) (b)
          ++nbd;
 
          if (fji > 1) {
            lnbd = fji;
          }
 
          borderPrime = borderMap[lnbd];
          from.set_j(from.get_j() + 1);
          border->m_contourType = vp::CONTOUR_HOLE;
 
          // Table 1
          switch (borderPrime->m_contourType) {
          case vp::CONTOUR_OUTER:
            border->setParent(borderPrime);
            break;
 
          case vp::CONTOUR_HOLE:
            border->setParent(borderPrime->m_parent);
            break;
 
          default:
            break;
          }
        }
 
        vpImagePoint ij(i, j);
        followBorder(I, ij, from, border, nbd);
 
        //(3) (1) ; single pixel contour
        if (border->m_points.empty()) {
          border->m_points.push_back(vpImagePoint(ij.get_i() - 1, ij.get_j() - 1)); // remove 1-pixel padding
          I[i][j] = -nbd;
        }
 
        if ((retrievalMode == CONTOUR_RETR_LIST) || (retrievalMode == CONTOUR_RETR_TREE)) {
          // Add contour points
          contourPts.push_back(border->m_points);
        }
 
        borderMap[nbd] = border;
      }
 
      //(4)
      if ((fji != 0) && (fji != 1)) {
        lnbd = std::abs(fji);
      }
    }
  }
 
  if ((retrievalMode == CONTOUR_RETR_EXTERNAL) || (retrievalMode == CONTOUR_RETR_LIST)) {
    // Delete contours content
    contours.m_parent = nullptr;
 
    std::vector<vpContour *>::iterator contours_m_children_end = contours.m_children.end();
    for (std::vector<vpContour *>::iterator it = contours.m_children.begin(); it != contours_m_children_end; ++it) {
      (*it)->m_parent = nullptr;
      if (*it != nullptr) {
        delete *it;
        *it = nullptr;
      }
    }
 
    contours.m_children.clear();
  }
 
  if (retrievalMode == CONTOUR_RETR_EXTERNAL) {
    // Add only external contours
    std::vector<vpContour *>::iterator root_m_children_end = root->m_children.end();
    for (std::vector<vpContour *>::const_iterator it = root->m_children.begin(); it != root_m_children_end; ++it) {
      // Save children
      std::vector<vpContour *> children_copy = (*it)->m_children;
      // Erase children
      (*it)->m_children.clear();
      // Copy contour
      contours.m_children.push_back(new vpContour(**it));
      // Restore children
      (*it)->m_children = children_copy;
      // Set parent to children
      size_t contours_m_children_size = contours.m_children.size();
      for (size_t i = 0; i < contours_m_children_size; ++i) {
        contours.m_children[i]->m_parent = &contours;
      }
      contourPts.push_back((*it)->m_points);
    }
  }
  else if (retrievalMode == CONTOUR_RETR_LIST) {
    getContoursList(*root, 0, contours);
 
    // Set parent to root
    std::vector<vpContour *>::iterator contours_m_children_end = contours.m_children.end();
    for (std::vector<vpContour *>::iterator it = contours.m_children.begin(); it != contours_m_children_end; ++it) {
      (*it)->m_parent = &contours;
    }
  }
  else {
    // CONTOUR_RETR_TREE
    contours = *root;
  }
 
  delete root;
  root = nullptr;
}
};