Joe Verbout / Mbed 2 deprecated main

opencv on mbed

Dependencies:   mbed

opencv2/videostab/fast_marching_inl.hpp@0:ea44dc9ed014, 2016-03-31 (annotated)

Committer:
joeverbout
Date:
Thu Mar 31 21:16:38 2016 +0000
Revision:
0:ea44dc9ed014
OpenCV on mbed attempt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joeverbout 0:ea44dc9ed014 1 /*M///////////////////////////////////////////////////////////////////////////////////////
joeverbout 0:ea44dc9ed014 2 //
joeverbout 0:ea44dc9ed014 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
joeverbout 0:ea44dc9ed014 4 //
joeverbout 0:ea44dc9ed014 5 // By downloading, copying, installing or using the software you agree to this license.
joeverbout 0:ea44dc9ed014 6 // If you do not agree to this license, do not download, install,
joeverbout 0:ea44dc9ed014 7 // copy or use the software.
joeverbout 0:ea44dc9ed014 8 //
joeverbout 0:ea44dc9ed014 9 //
joeverbout 0:ea44dc9ed014 10 // License Agreement
joeverbout 0:ea44dc9ed014 11 // For Open Source Computer Vision Library
joeverbout 0:ea44dc9ed014 12 //
joeverbout 0:ea44dc9ed014 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
joeverbout 0:ea44dc9ed014 14 // Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
joeverbout 0:ea44dc9ed014 15 // Third party copyrights are property of their respective owners.
joeverbout 0:ea44dc9ed014 16 //
joeverbout 0:ea44dc9ed014 17 // Redistribution and use in source and binary forms, with or without modification,
joeverbout 0:ea44dc9ed014 18 // are permitted provided that the following conditions are met:
joeverbout 0:ea44dc9ed014 19 //
joeverbout 0:ea44dc9ed014 20 // * Redistribution's of source code must retain the above copyright notice,
joeverbout 0:ea44dc9ed014 21 // this list of conditions and the following disclaimer.
joeverbout 0:ea44dc9ed014 22 //
joeverbout 0:ea44dc9ed014 23 // * Redistribution's in binary form must reproduce the above copyright notice,
joeverbout 0:ea44dc9ed014 24 // this list of conditions and the following disclaimer in the documentation
joeverbout 0:ea44dc9ed014 25 // and/or other materials provided with the distribution.
joeverbout 0:ea44dc9ed014 26 //
joeverbout 0:ea44dc9ed014 27 // * The name of the copyright holders may not be used to endorse or promote products
joeverbout 0:ea44dc9ed014 28 // derived from this software without specific prior written permission.
joeverbout 0:ea44dc9ed014 29 //
joeverbout 0:ea44dc9ed014 30 // This software is provided by the copyright holders and contributors "as is" and
joeverbout 0:ea44dc9ed014 31 // any express or implied warranties, including, but not limited to, the implied
joeverbout 0:ea44dc9ed014 32 // warranties of merchantability and fitness for a particular purpose are disclaimed.
joeverbout 0:ea44dc9ed014 33 // In no event shall the Intel Corporation or contributors be liable for any direct,
joeverbout 0:ea44dc9ed014 34 // indirect, incidental, special, exemplary, or consequential damages
joeverbout 0:ea44dc9ed014 35 // (including, but not limited to, procurement of substitute goods or services;
joeverbout 0:ea44dc9ed014 36 // loss of use, data, or profits; or business interruption) however caused
joeverbout 0:ea44dc9ed014 37 // and on any theory of liability, whether in contract, strict liability,
joeverbout 0:ea44dc9ed014 38 // or tort (including negligence or otherwise) arising in any way out of
joeverbout 0:ea44dc9ed014 39 // the use of this software, even if advised of the possibility of such damage.
joeverbout 0:ea44dc9ed014 40 //
joeverbout 0:ea44dc9ed014 41 //M*/
joeverbout 0:ea44dc9ed014 42
joeverbout 0:ea44dc9ed014 43 #ifndef __OPENCV_VIDEOSTAB_FAST_MARCHING_INL_HPP__
joeverbout 0:ea44dc9ed014 44 #define __OPENCV_VIDEOSTAB_FAST_MARCHING_INL_HPP__
joeverbout 0:ea44dc9ed014 45
joeverbout 0:ea44dc9ed014 46 #include "opencv2/videostab/fast_marching.hpp"
joeverbout 0:ea44dc9ed014 47
joeverbout 0:ea44dc9ed014 48 namespace cv
joeverbout 0:ea44dc9ed014 49 {
joeverbout 0:ea44dc9ed014 50 namespace videostab
joeverbout 0:ea44dc9ed014 51 {
joeverbout 0:ea44dc9ed014 52
joeverbout 0:ea44dc9ed014 53 template <typename Inpaint>
joeverbout 0:ea44dc9ed014 54 Inpaint FastMarchingMethod::run(const cv::Mat &mask, Inpaint inpaint)
joeverbout 0:ea44dc9ed014 55 {
joeverbout 0:ea44dc9ed014 56 using namespace cv;
joeverbout 0:ea44dc9ed014 57
joeverbout 0:ea44dc9ed014 58 CV_Assert(mask.type() == CV_8U);
joeverbout 0:ea44dc9ed014 59
joeverbout 0:ea44dc9ed014 60 static const int lut[4][2] = {{-1,0}, {0,-1}, {1,0}, {0,1}};
joeverbout 0:ea44dc9ed014 61
joeverbout 0:ea44dc9ed014 62 mask.copyTo(flag_);
joeverbout 0:ea44dc9ed014 63 flag_.create(mask.size());
joeverbout 0:ea44dc9ed014 64 dist_.create(mask.size());
joeverbout 0:ea44dc9ed014 65 index_.create(mask.size());
joeverbout 0:ea44dc9ed014 66 narrowBand_.clear();
joeverbout 0:ea44dc9ed014 67 size_ = 0;
joeverbout 0:ea44dc9ed014 68
joeverbout 0:ea44dc9ed014 69 // init
joeverbout 0:ea44dc9ed014 70 for (int y = 0; y < flag_.rows; ++y)
joeverbout 0:ea44dc9ed014 71 {
joeverbout 0:ea44dc9ed014 72 for (int x = 0; x < flag_.cols; ++x)
joeverbout 0:ea44dc9ed014 73 {
joeverbout 0:ea44dc9ed014 74 if (flag_(y,x) == KNOWN)
joeverbout 0:ea44dc9ed014 75 dist_(y,x) = 0.f;
joeverbout 0:ea44dc9ed014 76 else
joeverbout 0:ea44dc9ed014 77 {
joeverbout 0:ea44dc9ed014 78 int n = 0;
joeverbout 0:ea44dc9ed014 79 int nunknown = 0;
joeverbout 0:ea44dc9ed014 80
joeverbout 0:ea44dc9ed014 81 for (int i = 0; i < 4; ++i)
joeverbout 0:ea44dc9ed014 82 {
joeverbout 0:ea44dc9ed014 83 int xn = x + lut[i][0];
joeverbout 0:ea44dc9ed014 84 int yn = y + lut[i][1];
joeverbout 0:ea44dc9ed014 85
joeverbout 0:ea44dc9ed014 86 if (xn >= 0 && xn < flag_.cols && yn >= 0 && yn < flag_.rows)
joeverbout 0:ea44dc9ed014 87 {
joeverbout 0:ea44dc9ed014 88 n++;
joeverbout 0:ea44dc9ed014 89 if (flag_(yn,xn) != KNOWN)
joeverbout 0:ea44dc9ed014 90 nunknown++;
joeverbout 0:ea44dc9ed014 91 }
joeverbout 0:ea44dc9ed014 92 }
joeverbout 0:ea44dc9ed014 93
joeverbout 0:ea44dc9ed014 94 if (n>0 && nunknown == n)
joeverbout 0:ea44dc9ed014 95 {
joeverbout 0:ea44dc9ed014 96 dist_(y,x) = inf_;
joeverbout 0:ea44dc9ed014 97 flag_(y,x) = INSIDE;
joeverbout 0:ea44dc9ed014 98 }
joeverbout 0:ea44dc9ed014 99 else
joeverbout 0:ea44dc9ed014 100 {
joeverbout 0:ea44dc9ed014 101 dist_(y,x) = 0.f;
joeverbout 0:ea44dc9ed014 102 flag_(y,x) = BAND;
joeverbout 0:ea44dc9ed014 103 inpaint(x, y);
joeverbout 0:ea44dc9ed014 104
joeverbout 0:ea44dc9ed014 105 narrowBand_.push_back(DXY(0.f,x,y));
joeverbout 0:ea44dc9ed014 106 index_(y,x) = size_++;
joeverbout 0:ea44dc9ed014 107 }
joeverbout 0:ea44dc9ed014 108 }
joeverbout 0:ea44dc9ed014 109 }
joeverbout 0:ea44dc9ed014 110 }
joeverbout 0:ea44dc9ed014 111
joeverbout 0:ea44dc9ed014 112 // make heap
joeverbout 0:ea44dc9ed014 113 for (int i = size_/2-1; i >= 0; --i)
joeverbout 0:ea44dc9ed014 114 heapDown(i);
joeverbout 0:ea44dc9ed014 115
joeverbout 0:ea44dc9ed014 116 // main cycle
joeverbout 0:ea44dc9ed014 117 while (size_ > 0)
joeverbout 0:ea44dc9ed014 118 {
joeverbout 0:ea44dc9ed014 119 int x = narrowBand_[0].x;
joeverbout 0:ea44dc9ed014 120 int y = narrowBand_[0].y;
joeverbout 0:ea44dc9ed014 121 heapRemoveMin();
joeverbout 0:ea44dc9ed014 122
joeverbout 0:ea44dc9ed014 123 flag_(y,x) = KNOWN;
joeverbout 0:ea44dc9ed014 124 for (int n = 0; n < 4; ++n)
joeverbout 0:ea44dc9ed014 125 {
joeverbout 0:ea44dc9ed014 126 int xn = x + lut[n][0];
joeverbout 0:ea44dc9ed014 127 int yn = y + lut[n][1];
joeverbout 0:ea44dc9ed014 128
joeverbout 0:ea44dc9ed014 129 if (xn >= 0 && xn < flag_.cols && yn >= 0 && yn < flag_.rows && flag_(yn,xn) != KNOWN)
joeverbout 0:ea44dc9ed014 130 {
joeverbout 0:ea44dc9ed014 131 dist_(yn,xn) = std::min(std::min(solve(xn-1, yn, xn, yn-1), solve(xn+1, yn, xn, yn-1)),
joeverbout 0:ea44dc9ed014 132 std::min(solve(xn-1, yn, xn, yn+1), solve(xn+1, yn, xn, yn+1)));
joeverbout 0:ea44dc9ed014 133
joeverbout 0:ea44dc9ed014 134 if (flag_(yn,xn) == INSIDE)
joeverbout 0:ea44dc9ed014 135 {
joeverbout 0:ea44dc9ed014 136 flag_(yn,xn) = BAND;
joeverbout 0:ea44dc9ed014 137 inpaint(xn, yn);
joeverbout 0:ea44dc9ed014 138 heapAdd(DXY(dist_(yn,xn),xn,yn));
joeverbout 0:ea44dc9ed014 139 }
joeverbout 0:ea44dc9ed014 140 else
joeverbout 0:ea44dc9ed014 141 {
joeverbout 0:ea44dc9ed014 142 int i = index_(yn,xn);
joeverbout 0:ea44dc9ed014 143 if (dist_(yn,xn) < narrowBand_[i].dist)
joeverbout 0:ea44dc9ed014 144 {
joeverbout 0:ea44dc9ed014 145 narrowBand_[i].dist = dist_(yn,xn);
joeverbout 0:ea44dc9ed014 146 heapUp(i);
joeverbout 0:ea44dc9ed014 147 }
joeverbout 0:ea44dc9ed014 148 // works better if it's commented out
joeverbout 0:ea44dc9ed014 149 /*else if (dist(yn,xn) > narrowBand[i].dist)
joeverbout 0:ea44dc9ed014 150 {
joeverbout 0:ea44dc9ed014 151 narrowBand[i].dist = dist(yn,xn);
joeverbout 0:ea44dc9ed014 152 heapDown(i);
joeverbout 0:ea44dc9ed014 153 }*/
joeverbout 0:ea44dc9ed014 154 }
joeverbout 0:ea44dc9ed014 155 }
joeverbout 0:ea44dc9ed014 156 }
joeverbout 0:ea44dc9ed014 157 }
joeverbout 0:ea44dc9ed014 158
joeverbout 0:ea44dc9ed014 159 return inpaint;
joeverbout 0:ea44dc9ed014 160 }
joeverbout 0:ea44dc9ed014 161
joeverbout 0:ea44dc9ed014 162 } // namespace videostab
joeverbout 0:ea44dc9ed014 163 } // namespace cv
joeverbout 0:ea44dc9ed014 164
joeverbout 0:ea44dc9ed014 165 #endif
joeverbout 0:ea44dc9ed014 166