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#include "vmap.h"
#include "math.h"
using namespace std;
const int VMap::TYPE_SOBEL_3X3 = 0;
const int VMap::TYPE_SOBEL_5X5 = 1;
const int VMap::TYPE_TOP_HAT = 2;
const int VMap::TYPE_BLACK_HAT = 3;
const int VMap::TYPE_MORPHO = 4;
const int VMap::TYPE_FULL_TOP_HAT = 5;
const int VMap::TYPE_FULL_BLACK_HAT = 6;
const int VMap::TYPE_FULL_MORPHO = 7;
const int VMap::NEAR_SQ_ANGLE = 80; // 80% (roughly 25 degrees)
const int VMap::DEFAULT_GRADIENT_THRESHOLD = 30;
VMap::VMap (int width, int height, int *data, int type)
{
imap = new int[width * height];
if (type == TYPE_TOP_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.tophatGradient (imap, data, width, height);
buildSobel5x5Map (data);
}
else if (type == TYPE_FULL_TOP_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.tophatGradient (imap, data, width, height);
int *jmap = new int[width * height];
Strucel seh (Strucel::TYPE_HOR);
seh.tophatGradient (jmap, data, width, height);
int *kmap = new int[width * height];
Strucel sev (Strucel::TYPE_VER);
sev.tophatGradient (kmap, data, width, height);
map = new Vr2i[width * height];
Vr2i *tmpmap = map;
for (int i = 0; i < width * height; i ++)
{
tmpmap->set (jmap[i], kmap[i]);
tmpmap ++;
}
}
else if (type == TYPE_BLACK_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.blackhatGradient (imap, data, width, height);
buildSobel5x5Map (data);
}
else if (type == TYPE_FULL_BLACK_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.blackhatGradient (imap, data, width, height);
int *jmap = new int[width * height];
Strucel seh (Strucel::TYPE_HOR);
seh.blackhatGradient (jmap, data, width, height);
int *kmap = new int[width * height];
Strucel sev (Strucel::TYPE_VER);
sev.blackhatGradient (kmap, data, width, height);
map = new Vr2i[width * height];
Vr2i *tmpmap = map;
for (int i = 0; i < width * height; i ++)
{
tmpmap->set (jmap[i], kmap[i]);
tmpmap ++;
}
}
else if (type == TYPE_MORPHO)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.morphoGradient (imap, data, width, height);
else if (type == TYPE_FULL_MORPHO)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.morphoGradient (imap, data, width, height);
int *jmap = new int[width * height];
Strucel seh (Strucel::TYPE_HOR);
seh.morphoGradient (jmap, data, width, height);
int *kmap = new int[width * height];
Strucel sev (Strucel::TYPE_VER);
sev.morphoGradient (kmap, data, width, height);
map = new Vr2i[width * height];
Vr2i *tmpmap = map;
for (int i = 0; i < width * height; i ++)
{
tmpmap->set (jmap[i], kmap[i]);
tmpmap ++;
}
}
else if (type == TYPE_SOBEL_5X5)
{
buildSobel5x5Map (data);
for (int i = 0; i < width * height; i++)
imap[i] = (int) sqrt (map[i].norm2 ());
}
else // type == TYPE_SOBEL_3X3
{
buildGradientMap (data);
for (int i = 0; i < width * height; i++)
imap[i] = (int) sqrt (map[i].norm2 ());
mask = new bool[width * height];
for (int i = 0; i < width * height; i++) mask[i] = false;
masking = false;
angleThreshold = NEAR_SQ_ANGLE;
orientedGradient = false;
}
VMap::VMap (int width, int height, int **data, int type)
{
imap = new int[width * height];
if (type == TYPE_TOP_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.tophatGradient (imap, data, width, height);
buildSobel5x5Map (data);
}
else if (type == TYPE_FULL_TOP_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.tophatGradient (imap, data, width, height);
int *jmap = new int[width * height];
Strucel seh (Strucel::TYPE_HOR);
seh.tophatGradient (jmap, data, width, height);
int *kmap = new int[width * height];
Strucel sev (Strucel::TYPE_VER);
sev.tophatGradient (kmap, data, width, height);
map = new Vr2i[width * height];
Vr2i *tmpmap = map;
for (int i = 0; i < width * height; i ++)
{
tmpmap->set (jmap[i], kmap[i]);
tmpmap ++;
}
}
else if (type == TYPE_BLACK_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.blackhatGradient (imap, data, width, height);
buildSobel5x5Map (data);
}
else if (type == TYPE_FULL_BLACK_HAT)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.blackhatGradient (imap, data, width, height);
int *jmap = new int[width * height];
Strucel seh (Strucel::TYPE_HOR);
seh.blackhatGradient (jmap, data, width, height);
int *kmap = new int[width * height];
Strucel sev (Strucel::TYPE_VER);
sev.blackhatGradient (kmap, data, width, height);
map = new Vr2i[width * height];
Vr2i *tmpmap = map;
for (int i = 0; i < width * height; i ++)
{
tmpmap->set (jmap[i], kmap[i]);
tmpmap ++;
}
}
else if (type == TYPE_MORPHO)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.morphoGradient (imap, data, width, height);
buildSobel5x5Map (data);
}
else if (type == TYPE_FULL_MORPHO)
{
Strucel se (Strucel::TYPE_PLUS_3X3);
se.morphoGradient (imap, data, width, height);
int *jmap = new int[width * height];
Strucel seh (Strucel::TYPE_HOR);
seh.morphoGradient (jmap, data, width, height);
int *kmap = new int[width * height];
Strucel sev (Strucel::TYPE_VER);
sev.morphoGradient (kmap, data, width, height);
map = new Vr2i[width * height];
Vr2i *tmpmap = map;
for (int i = 0; i < width * height; i ++)
{
tmpmap->set (jmap[i], kmap[i]);
tmpmap ++;
}
else if (type == TYPE_SOBEL_5X5)
{
buildSobel5x5Map (data);
}
else // type == TYPE_SOBEL_3X3
{
buildGradientMap (data);
for (int i = 0; i < width * height; i++)
imap[i] = (int) sqrt (map[i].norm2 ());
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mask = new bool[width * height];
for (int i = 0; i < width * height; i++) mask[i] = false;
masking = false;
angleThreshold = NEAR_SQ_ANGLE;
orientedGradient = false;
}
VMap::~VMap ()
{
delete map;
delete imap;
delete mask;
}
void VMap::buildGradientMap (int *data)
{
map = new Vr2i[width * height];
Vr2i *gm = map;
for (int j = 0; j < width; j++)
{
gm->set (0, 0);
gm++;
}
for (int i = 1; i < height - 1; i++)
{
gm->set (0, 0);
gm++;
for (int j = 1; j < width - 1; j++)
{
gm->set (data[(i - 1) * height + j + 1]
+ 2 * data[i * height + j + 1]
+ data[(i + 1) * height + j + 1]
- data[(i - 1) * height + j - 1]
- 2 * data[i * height + j - 1]
- data[(i + 1) * height + j - 1],
data[(i + 1) * height + j - 1]
+ 2 * data[(i + 1) * height + j]
+ data[(i + 1) * height + j + 1]
- data[(i - 1) * height + j - 1]
- 2 * data[(i - 1) * height + j]
- data[(i - 1) * height + j + 1]);
gm++;
}
gm->set (0, 0);
gm++;
}
for (int j = 0; j < width; j++)
{
gm->set (0, 0);
gm++;
}
}
void VMap::buildGradientMap (int **data)
{
map = new Vr2i[width * height];
Vr2i *gm = map;
for (int j = 0; j < width; j++)
{
gm->set (0, 0);
gm++;
}
for (int i = 1; i < height - 1; i++)
{
gm->set (0, 0);
gm++;
for (int j = 1; j < width - 1; j++)
{
gm->set (data[i-1][j+1] + 2 * data[i][j+1] + data[i+1][j+1]
- data[i-1][j-1] - 2 * data[i][j-1] - data[i+1][j-1],
data[i+1][j-1] + 2 * data[i+1][j] + data[i+1][j+1]
- data[i-1][j-1] - 2 * data[i-1][j] - data[i-1][j+1]);
gm++;
}
gm->set (0, 0);
gm++;
}
for (int j = 0; j < width; j++)
{
gm->set (0, 0);
gm++;
}
}
void VMap::buildSobel5x5Map (int *data)
{
map = new Vr2i[width * height];
Vr2i *gm = map;
for (int j = 0; j < 2 * width; j++)
{
gm->set (0, 0);
gm++;
}
for (int i = 2; i < height - 2; i++)
{
gm->set (0, 0);
gm++;
gm->set (0, 0);
gm++;
for (int j = 2; j < width - 2; j++)
{
gm->set (5 * data[(i - 2) * height + j + 2]
+ 8 * data[(i - 1) * height + j + 2]
+ 10 * data[i * height + j + 2]
+ 8 * data[(i + 1) * height + j + 2]
+ 5 * data[(i + 2) * height + j + 2]
+ 4 * data[(i - 2) * height + j + 1]
+ 10 * data[(i - 1) * height + j + 1]
+ 20 * data[i * height + j + 1]
+ 10 * data[(i + 1) * height + j + 1]
+ 4 * data[(i + 2) * height + j + 1]
- 4 * data[(i - 2) * height + j - 1]
- 10 * data[(i - 1) * height + j - 1]
- 20 * data[i * height + j - 1]
- 10 * data[(i + 1) * height + j - 1]
- 4 * data[(i + 2) * height + j - 1]
- 5 * data[(i - 2) * height + j - 2]
- 8 * data[(i - 1) * height + j - 2]
- 10 * data[i * height + j - 2]
- 8 * data[(i + 1) * height + j - 2]
- 5 * data[(i + 2) * height + j - 2],
5 * data[(i + 2) * height + j - 2]
+ 8 * data[(i + 2) * height + j - 1]
+ 10 * data[(i + 2) * height + j]
+ 8 * data[(i + 2) * height + j + 1]
+ 5 * data[(i + 2) * height + j + 2]
+ 4 * data[(i + 1) * height + j - 2]
+ 10 * data[(i + 1) * height + j - 1]
+ 20 * data[(i + 1) * height + j]
+ 10 * data[(i + 1) * height + j + 1]
+ 4 * data[(i + 1) * height + j + 2]
- 4 * data[(i - 1) * height + j - 2]
- 10 * data[(i - 1) * height + j - 1]
- 20 * data[(i - 1) * height + j]
- 10 * data[(i - 1) * height + j + 1]
- 4 * data[(i - 1) * height + j + 2]
- 5 * data[(i - 2) * height + j - 2]
- 8 * data[(i - 2) * height + j - 1]
- 10 * data[(i - 2) * height + j]
- 8 * data[(i - 2) * height + j + 1]
- 5 * data[(i - 2) * height + j + 2]);
gm++;
}
gm->set (0, 0);
gm++;
gm->set (0, 0);
gm++;
}
for (int j = 0; j < 2 * width; j++)
{
gm->set (0, 0);
gm++;
}
}
void VMap::buildSobel5x5Map (int **data)
{
map = new Vr2i[width * height];
Vr2i *gm = map;
for (int j = 0; j < 2 * width; j++)
{
gm->set (0, 0);
gm++;
}
for (int i = 2; i < height - 2; i++)
{
gm->set (0, 0);
gm++;
gm->set (0, 0);
gm++;
for (int j = 2; j < width - 2; j++)
{
gm->set (
5 * data[i-2][j+2] + 8 * data[i-1][j+2] + 10 * data[i][j+2]
+ 8 * data[i+1][j+2] + 5 * data[i+2][j+2]
+ 4 * data[i-2][j+1] + 10 * data[i-1][j+1] + 20 * data[i][j+1]
+ 10 * data[i+1][j+1] + 4 * data[i+2][j+1]
- 4 * data[i-2][j-1] - 10 * data[i-1][j-1] - 20 * data[i][j-1]
- 10 * data[i+1][j-1] - 4 * data[i+2][j-1]
- 5 * data[i-2][j-2] - 8 * data[i-1][j-2] - 10 * data[i][j-2]
- 8 * data[i+1][j-2] - 5 * data[i+2][j-2],
5 * data[i+2][j-2] + 8 * data[i+2][j-1] + 10 * data[i+2][j]
+ 8 * data[i+2][j+1] + 5 * data[i+2][j+2]
+ 4 * data[i+1][j-2] + 10 * data[i+1][j-1] + 20 * data[i+1][j]
+ 10 * data[i+1][j+1] + 4 * data[i+1][j+2]
- 4 * data[i-1][j-2] - 10 * data[i-1][j-1] - 20 * data[i-1][j]
- 10 * data[i-1][j+1] - 4 * data[i-1][j+2]
- 5 * data[i-2][j-2] - 8 * data[i-2][j-1] - 10 * data[i-2][j]
- 8 * data[i-2][j+1] - 5 * data[i-2][j+2]);
gm++;
}
gm->set (0, 0);
gm++;
gm->set (0, 0);
gm++;
}
for (int j = 0; j < 2 * width; j++)
{
gm->set (0, 0);
gm++;
}
}
int VMap::sqNorm (int i, int j) const
{
return (map[j * width + i].norm2 ());
}
int VMap::sqNorm (Pt2i p) const
{
return (map[p.y () * width + p.x ()].norm2 ());
}
int VMap::largestIn (const vector<Pt2i> &pix) const
{
if (pix.empty ()) return (-1);
int imax = -1;
vector<Pt2i>::const_iterator pt = pix.begin ();
int gmax = imap[pt->y() * width + pt->x()];
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int i = 0;
while (pt != pix.end ())
{
int g = imap[pt->y() * width + pt->x()];
if (g > gmax)
{
gmax = g;
imax = i;
}
pt ++;
i ++;
}
return (imax == i - 1 ? -1 : imax);
}
int VMap::keepFreeElementsIn (const vector<Pt2i> &pix, int n, int *ind) const
{
int i = 0;
while (i < n)
{
if (mask[pix[ind[i]].y () * width + pix[ind[i]].x ()]) ind[i] = ind[--n];
else i++;
}
return (n);
}
int VMap::keepOrientedElementsIn (const vector<Pt2i> &pix,
const Vr2i &ref, int n, int *ind) const
{
int vx = ref.x ();
int vy = ref.y ();
int i = 0;
while (i < n)
{
Vr2i gr = map[pix[ind[i]].y () * width + pix[ind[i]].x ()];
if (vx * gr.x () + vy * gr.y () <= 0) ind[i] = ind[--n];
else i++;
}
return (n);
}
int VMap::keepDirectedElementsIn (const vector<Pt2i> &pix,
const Vr2i &ref, int n, int *ind) const
{
int vx = ref.x ();
int vy = ref.y ();
long vn2 = vx * vx + vy * vy;
int i = 0;
while (i < n)
{
Pt2i p = pix.at (ind[i]);
Vr2i gr = map[p.y () * width + p.x ()];
long gx = gr.x ();
long gy = gr.y ();
if ((vx * vx * gx * gx + vy * vy * gy * gy + 2 * vx * vy * gx * gy) * 100
< vn2 * (gx * gx + gy * gy) * angleThreshold)
ind[i] = ind[--n];
else i++;
}
return (n);
}
int VMap::localMax (int *lmax, const vector<Pt2i> &pix) const
{
// Builds the gradient norm signal
int n = (int) pix.size ();
int *gn = new int[n];
int i = 0;
vector<Pt2i>::const_iterator it = pix.begin ();
// Gets the local maxima
int count = searchLocalMax (lmax, n, gn);
// Prunes the already selected candidates
count = keepFreeElementsIn (pix, count, lmax);
// Sorts candidates by gradient magnitude
sortMax (lmax, count, gn);
delete gn;
return count;
}
int VMap::localMax (int *lmax, const vector<Pt2i> &pix, const Vr2i &gref) const
{
// Builds the gradient norm signal
int n = (int) pix.size ();
int *gn = new int[n];
int i = 0;
vector<Pt2i>::const_iterator it = pix.begin ();
while (it != pix.end ()) gn[i++] = magn (*it++);
// Gets the local maxima
int count = searchLocalMax (lmax, n, gn);
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// Prunes the candidates with opposite gradient
if (orientedGradient)
count = keepOrientedElementsIn (pix, gref, count, lmax);
// Prunes the candidates wrongly oriented
count = keepDirectedElementsIn (pix, gref, count, lmax);
// Sorts candidates by gradient magnitude
sortMax (lmax, count, gn);
delete gn;
return count;
}
int VMap::searchLocalMax (int *lmax, int n, int *in) const
{
int offset = 0;
int count = 0;
bool up = true;
// Gets the first distinct value from start
while (offset < n - 1 && in[offset] == in[0])
{
if (in[offset] - in[offset + 1] < 0)
{
up = true;
break;
}
if (in[offset] - in[offset + 1] > 0)
{
up = false;
break;
}
offset++;
}
for(int i = offset; i < n - 1; i++)
{
if (up)
{
if ((in[i + 1] - in[i]) < 0)
{
up = false;
int k = i;
while (in[k - 1] == in[i]) k--;
lmax[count++] = k + (i - k) / 2;
}
}
else
if (in[i + 1] - in[i] > 0) up = true;
}
return count;
}
void VMap::sortMax (int *lmax, int n, int *val) const
{
for (int i = 1; i < n; i ++)
{
int j = i, tmp = lmax[i];
bool on = true;
while (on && j > 0)
{
if (val[tmp] > val[lmax[j-1]])
{
lmax[j] = lmax[j-1];
j --;
}
else on = false;
}
lmax[j] = tmp;
}
}
void VMap::clearMask ()
{
for (int i = 0; i < width * height; i++) mask[i] = false;
}
void VMap::setMask (const vector<Pt2i> &pts)
{
vector<Pt2i>::const_iterator it = pts.begin ();
while (it != pts.end ())
{
Pt2i pt = *it++;
mask[pt.y () * width + pt.x ()] = true;
}
}