Renesas / opencv-lib

openCV library for Renesas RZ/A

Dependents:   RZ_A2M_Mbed_samples

include/opencv2/videostab/fast_marching_inl.hpp@0:0e0631af0305, 2021-01-29 (annotated)

Committer:
RyoheiHagimoto
Date:
Fri Jan 29 04:53:38 2021 +0000
Revision:
0:0e0631af0305
copied from https://github.com/d-kato/opencv-lib.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RyoheiHagimoto 0:0e0631af0305 1 /*M///////////////////////////////////////////////////////////////////////////////////////
RyoheiHagimoto 0:0e0631af0305 2 //
RyoheiHagimoto 0:0e0631af0305 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
RyoheiHagimoto 0:0e0631af0305 4 //
RyoheiHagimoto 0:0e0631af0305 5 // By downloading, copying, installing or using the software you agree to this license.
RyoheiHagimoto 0:0e0631af0305 6 // If you do not agree to this license, do not download, install,
RyoheiHagimoto 0:0e0631af0305 7 // copy or use the software.
RyoheiHagimoto 0:0e0631af0305 8 //
RyoheiHagimoto 0:0e0631af0305 9 //
RyoheiHagimoto 0:0e0631af0305 10 // License Agreement
RyoheiHagimoto 0:0e0631af0305 11 // For Open Source Computer Vision Library
RyoheiHagimoto 0:0e0631af0305 12 //
RyoheiHagimoto 0:0e0631af0305 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
RyoheiHagimoto 0:0e0631af0305 14 // Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
RyoheiHagimoto 0:0e0631af0305 15 // Third party copyrights are property of their respective owners.
RyoheiHagimoto 0:0e0631af0305 16 //
RyoheiHagimoto 0:0e0631af0305 17 // Redistribution and use in source and binary forms, with or without modification,
RyoheiHagimoto 0:0e0631af0305 18 // are permitted provided that the following conditions are met:
RyoheiHagimoto 0:0e0631af0305 19 //
RyoheiHagimoto 0:0e0631af0305 20 // * Redistribution's of source code must retain the above copyright notice,
RyoheiHagimoto 0:0e0631af0305 21 // this list of conditions and the following disclaimer.
RyoheiHagimoto 0:0e0631af0305 22 //
RyoheiHagimoto 0:0e0631af0305 23 // * Redistribution's in binary form must reproduce the above copyright notice,
RyoheiHagimoto 0:0e0631af0305 24 // this list of conditions and the following disclaimer in the documentation
RyoheiHagimoto 0:0e0631af0305 25 // and/or other materials provided with the distribution.
RyoheiHagimoto 0:0e0631af0305 26 //
RyoheiHagimoto 0:0e0631af0305 27 // * The name of the copyright holders may not be used to endorse or promote products
RyoheiHagimoto 0:0e0631af0305 28 // derived from this software without specific prior written permission.
RyoheiHagimoto 0:0e0631af0305 29 //
RyoheiHagimoto 0:0e0631af0305 30 // This software is provided by the copyright holders and contributors "as is" and
RyoheiHagimoto 0:0e0631af0305 31 // any express or implied warranties, including, but not limited to, the implied
RyoheiHagimoto 0:0e0631af0305 32 // warranties of merchantability and fitness for a particular purpose are disclaimed.
RyoheiHagimoto 0:0e0631af0305 33 // In no event shall the Intel Corporation or contributors be liable for any direct,
RyoheiHagimoto 0:0e0631af0305 34 // indirect, incidental, special, exemplary, or consequential damages
RyoheiHagimoto 0:0e0631af0305 35 // (including, but not limited to, procurement of substitute goods or services;
RyoheiHagimoto 0:0e0631af0305 36 // loss of use, data, or profits; or business interruption) however caused
RyoheiHagimoto 0:0e0631af0305 37 // and on any theory of liability, whether in contract, strict liability,
RyoheiHagimoto 0:0e0631af0305 38 // or tort (including negligence or otherwise) arising in any way out of
RyoheiHagimoto 0:0e0631af0305 39 // the use of this software, even if advised of the possibility of such damage.
RyoheiHagimoto 0:0e0631af0305 40 //
RyoheiHagimoto 0:0e0631af0305 41 //M*/
RyoheiHagimoto 0:0e0631af0305 42
RyoheiHagimoto 0:0e0631af0305 43 #ifndef OPENCV_VIDEOSTAB_FAST_MARCHING_INL_HPP
RyoheiHagimoto 0:0e0631af0305 44 #define OPENCV_VIDEOSTAB_FAST_MARCHING_INL_HPP
RyoheiHagimoto 0:0e0631af0305 45
RyoheiHagimoto 0:0e0631af0305 46 #include "opencv2/videostab/fast_marching.hpp"
RyoheiHagimoto 0:0e0631af0305 47
RyoheiHagimoto 0:0e0631af0305 48 namespace cv
RyoheiHagimoto 0:0e0631af0305 49 {
RyoheiHagimoto 0:0e0631af0305 50 namespace videostab
RyoheiHagimoto 0:0e0631af0305 51 {
RyoheiHagimoto 0:0e0631af0305 52
RyoheiHagimoto 0:0e0631af0305 53 template <typename Inpaint>
RyoheiHagimoto 0:0e0631af0305 54 Inpaint FastMarchingMethod::run(const cv::Mat &mask, Inpaint inpaint)
RyoheiHagimoto 0:0e0631af0305 55 {
RyoheiHagimoto 0:0e0631af0305 56 using namespace cv;
RyoheiHagimoto 0:0e0631af0305 57
RyoheiHagimoto 0:0e0631af0305 58 CV_Assert(mask.type() == CV_8U);
RyoheiHagimoto 0:0e0631af0305 59
RyoheiHagimoto 0:0e0631af0305 60 static const int lut[4][2] = {{-1,0}, {0,-1}, {1,0}, {0,1}};
RyoheiHagimoto 0:0e0631af0305 61
RyoheiHagimoto 0:0e0631af0305 62 mask.copyTo(flag_);
RyoheiHagimoto 0:0e0631af0305 63 flag_.create(mask.size());
RyoheiHagimoto 0:0e0631af0305 64 dist_.create(mask.size());
RyoheiHagimoto 0:0e0631af0305 65 index_.create(mask.size());
RyoheiHagimoto 0:0e0631af0305 66 narrowBand_.clear();
RyoheiHagimoto 0:0e0631af0305 67 size_ = 0;
RyoheiHagimoto 0:0e0631af0305 68
RyoheiHagimoto 0:0e0631af0305 69 // init
RyoheiHagimoto 0:0e0631af0305 70 for (int y = 0; y < flag_.rows; ++y)
RyoheiHagimoto 0:0e0631af0305 71 {
RyoheiHagimoto 0:0e0631af0305 72 for (int x = 0; x < flag_.cols; ++x)
RyoheiHagimoto 0:0e0631af0305 73 {
RyoheiHagimoto 0:0e0631af0305 74 if (flag_(y,x) == KNOWN)
RyoheiHagimoto 0:0e0631af0305 75 dist_(y,x) = 0.f;
RyoheiHagimoto 0:0e0631af0305 76 else
RyoheiHagimoto 0:0e0631af0305 77 {
RyoheiHagimoto 0:0e0631af0305 78 int n = 0;
RyoheiHagimoto 0:0e0631af0305 79 int nunknown = 0;
RyoheiHagimoto 0:0e0631af0305 80
RyoheiHagimoto 0:0e0631af0305 81 for (int i = 0; i < 4; ++i)
RyoheiHagimoto 0:0e0631af0305 82 {
RyoheiHagimoto 0:0e0631af0305 83 int xn = x + lut[i][0];
RyoheiHagimoto 0:0e0631af0305 84 int yn = y + lut[i][1];
RyoheiHagimoto 0:0e0631af0305 85
RyoheiHagimoto 0:0e0631af0305 86 if (xn >= 0 && xn < flag_.cols && yn >= 0 && yn < flag_.rows)
RyoheiHagimoto 0:0e0631af0305 87 {
RyoheiHagimoto 0:0e0631af0305 88 n++;
RyoheiHagimoto 0:0e0631af0305 89 if (flag_(yn,xn) != KNOWN)
RyoheiHagimoto 0:0e0631af0305 90 nunknown++;
RyoheiHagimoto 0:0e0631af0305 91 }
RyoheiHagimoto 0:0e0631af0305 92 }
RyoheiHagimoto 0:0e0631af0305 93
RyoheiHagimoto 0:0e0631af0305 94 if (n>0 && nunknown == n)
RyoheiHagimoto 0:0e0631af0305 95 {
RyoheiHagimoto 0:0e0631af0305 96 dist_(y,x) = inf_;
RyoheiHagimoto 0:0e0631af0305 97 flag_(y,x) = INSIDE;
RyoheiHagimoto 0:0e0631af0305 98 }
RyoheiHagimoto 0:0e0631af0305 99 else
RyoheiHagimoto 0:0e0631af0305 100 {
RyoheiHagimoto 0:0e0631af0305 101 dist_(y,x) = 0.f;
RyoheiHagimoto 0:0e0631af0305 102 flag_(y,x) = BAND;
RyoheiHagimoto 0:0e0631af0305 103 inpaint(x, y);
RyoheiHagimoto 0:0e0631af0305 104
RyoheiHagimoto 0:0e0631af0305 105 narrowBand_.push_back(DXY(0.f,x,y));
RyoheiHagimoto 0:0e0631af0305 106 index_(y,x) = size_++;
RyoheiHagimoto 0:0e0631af0305 107 }
RyoheiHagimoto 0:0e0631af0305 108 }
RyoheiHagimoto 0:0e0631af0305 109 }
RyoheiHagimoto 0:0e0631af0305 110 }
RyoheiHagimoto 0:0e0631af0305 111
RyoheiHagimoto 0:0e0631af0305 112 // make heap
RyoheiHagimoto 0:0e0631af0305 113 for (int i = size_/2-1; i >= 0; --i)
RyoheiHagimoto 0:0e0631af0305 114 heapDown(i);
RyoheiHagimoto 0:0e0631af0305 115
RyoheiHagimoto 0:0e0631af0305 116 // main cycle
RyoheiHagimoto 0:0e0631af0305 117 while (size_ > 0)
RyoheiHagimoto 0:0e0631af0305 118 {
RyoheiHagimoto 0:0e0631af0305 119 int x = narrowBand_[0].x;
RyoheiHagimoto 0:0e0631af0305 120 int y = narrowBand_[0].y;
RyoheiHagimoto 0:0e0631af0305 121 heapRemoveMin();
RyoheiHagimoto 0:0e0631af0305 122
RyoheiHagimoto 0:0e0631af0305 123 flag_(y,x) = KNOWN;
RyoheiHagimoto 0:0e0631af0305 124 for (int n = 0; n < 4; ++n)
RyoheiHagimoto 0:0e0631af0305 125 {
RyoheiHagimoto 0:0e0631af0305 126 int xn = x + lut[n][0];
RyoheiHagimoto 0:0e0631af0305 127 int yn = y + lut[n][1];
RyoheiHagimoto 0:0e0631af0305 128
RyoheiHagimoto 0:0e0631af0305 129 if (xn >= 0 && xn < flag_.cols && yn >= 0 && yn < flag_.rows && flag_(yn,xn) != KNOWN)
RyoheiHagimoto 0:0e0631af0305 130 {
RyoheiHagimoto 0:0e0631af0305 131 dist_(yn,xn) = std::min(std::min(solve(xn-1, yn, xn, yn-1), solve(xn+1, yn, xn, yn-1)),
RyoheiHagimoto 0:0e0631af0305 132 std::min(solve(xn-1, yn, xn, yn+1), solve(xn+1, yn, xn, yn+1)));
RyoheiHagimoto 0:0e0631af0305 133
RyoheiHagimoto 0:0e0631af0305 134 if (flag_(yn,xn) == INSIDE)
RyoheiHagimoto 0:0e0631af0305 135 {
RyoheiHagimoto 0:0e0631af0305 136 flag_(yn,xn) = BAND;
RyoheiHagimoto 0:0e0631af0305 137 inpaint(xn, yn);
RyoheiHagimoto 0:0e0631af0305 138 heapAdd(DXY(dist_(yn,xn),xn,yn));
RyoheiHagimoto 0:0e0631af0305 139 }
RyoheiHagimoto 0:0e0631af0305 140 else
RyoheiHagimoto 0:0e0631af0305 141 {
RyoheiHagimoto 0:0e0631af0305 142 int i = index_(yn,xn);
RyoheiHagimoto 0:0e0631af0305 143 if (dist_(yn,xn) < narrowBand_[i].dist)
RyoheiHagimoto 0:0e0631af0305 144 {
RyoheiHagimoto 0:0e0631af0305 145 narrowBand_[i].dist = dist_(yn,xn);
RyoheiHagimoto 0:0e0631af0305 146 heapUp(i);
RyoheiHagimoto 0:0e0631af0305 147 }
RyoheiHagimoto 0:0e0631af0305 148 // works better if it's commented out
RyoheiHagimoto 0:0e0631af0305 149 /*else if (dist(yn,xn) > narrowBand[i].dist)
RyoheiHagimoto 0:0e0631af0305 150 {
RyoheiHagimoto 0:0e0631af0305 151 narrowBand[i].dist = dist(yn,xn);
RyoheiHagimoto 0:0e0631af0305 152 heapDown(i);
RyoheiHagimoto 0:0e0631af0305 153 }*/
RyoheiHagimoto 0:0e0631af0305 154 }
RyoheiHagimoto 0:0e0631af0305 155 }
RyoheiHagimoto 0:0e0631af0305 156 }
RyoheiHagimoto 0:0e0631af0305 157 }
RyoheiHagimoto 0:0e0631af0305 158
RyoheiHagimoto 0:0e0631af0305 159 return inpaint;
RyoheiHagimoto 0:0e0631af0305 160 }
RyoheiHagimoto 0:0e0631af0305 161
RyoheiHagimoto 0:0e0631af0305 162 } // namespace videostab
RyoheiHagimoto 0:0e0631af0305 163 } // namespace cv
RyoheiHagimoto 0:0e0631af0305 164
RyoheiHagimoto 0:0e0631af0305 165 #endif