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TextDetection.cpp
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TextDetection.cpp
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/*
Copyright 2012 Andrew Perrault and Saurav Kumar.
This file is part of DetectText.
DetectText 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 3 of the License, or
(at your option) any later version.
DetectText is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with DetectText. If not, see <http:https://www.gnu.org/licenses/>.
*/
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/connected_components.hpp>
#include <boost/unordered_map.hpp>
#include <boost/graph/floyd_warshall_shortest.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/io.hpp>
/*#include <graph/adjacency_list.hpp>
#include <graph/graph_traits.hpp>
#include <graph/connected_components.hpp>
#include <unordered_map.hpp>
#include <graph/floyd_warshall_shortest.hpp>
#include <numeric/ublas/matrix.hpp>
#include <numeric/ublas/io.hpp> */
#include <cassert>
#include <cmath>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <math.h>
#include <time.h>
#include <utility>
#include <algorithm>
#include <vector>
using namespace cv;
#include "TextDetection.h"
#define PI 3.14159265
namespace DetectText {
const Scalar BLUE (255, 0, 0);
const Scalar GREEN(0, 255, 0);
const Scalar RED (0, 0, 255);
std::vector<SWTPointPair2i > findBoundingBoxes( std::vector<std::vector<SWTPoint2d> > & components,
std::vector<Chain> & chains,
std::vector<SWTPointPair2d > & compBB,
Mat& output) {
std::vector<SWTPointPair2i > bb;
bb.reserve(chains.size());
for (auto& chainit : chains) {
int minx = output.cols;
int miny = output.rows;
int maxx = 0;
int maxy = 0;
for (std::vector<int>::const_iterator cit = chainit.components.begin(); cit != chainit.components.end(); cit++) {
miny = std::min(miny,compBB[*cit].first.y);
minx = std::min(minx,compBB[*cit].first.x);
maxy = std::max(maxy,compBB[*cit].second.y);
maxx = std::max(maxx,compBB[*cit].second.x);
}
Point2i p0(minx,miny);
Point2i p1(maxx,maxy);
SWTPointPair2i pair(p0,p1);
bb.push_back(pair);
}
return bb;
}
std::vector<SWTPointPair2i > findBoundingBoxes( std::vector<std::vector<SWTPoint2d> > & components,
Mat& output) {
std::vector<SWTPointPair2i > bb;
bb.reserve(components.size());
for (auto& compit : components) {
int minx = output.cols;
int miny = output.rows;
int maxx = 0;
int maxy = 0;
for (auto& it : compit) {
miny = std::min(miny,it.y);
minx = std::min(minx,it.x);
maxy = std::max(maxy,it.y);
maxx = std::max(maxx,it.x);
}
Point2i p0(minx,miny);
Point2i p1(maxx,maxy);
SWTPointPair2i pair(p0,p1);
bb.push_back(pair);
}
return bb;
}
void normalizeImage (const Mat& input, Mat& output) {
assert ( input.depth() == CV_32F );
assert ( input.channels() == 1 );
assert ( output.depth() == CV_32F );
assert ( output.channels() == 1 );
float maxVal = 0;
float minVal = 1e100;
for ( int row = 0; row < input.rows; row++ ){
const float* ptr = (const float*)input.ptr(row);
for ( int col = 0; col < input.cols; col++ ){
if (*ptr < 0) { }
else {
maxVal = std::max(*ptr, maxVal);
minVal = std::min(*ptr, minVal);
}
ptr++;
}
}
float difference = maxVal - minVal;
for ( int row = 0; row < input.rows; row++ ) {
const float* ptrin = (const float*)input.ptr(row);
float* ptrout = (float*)output.ptr(row);
for ( int col = 0; col < input.cols; col++ ) {
if (*ptrin < 0) {
*ptrout = 1;
} else {
*ptrout = ((*ptrin) - minVal)/difference;
}
ptrout++;
ptrin++;
}
}
}
void renderComponents (const Mat& SWTImage, std::vector<std::vector<SWTPoint2d> > & components, Mat& output) {
output.setTo(0);
for (auto& component : components) {
for (auto& pit : component) {
output.at<float>(pit.y, pit.x) = SWTImage.at<float>(pit.y, pit.x);
}
}
for( int row = 0; row < output.rows; row++ ){
float* ptr = (float*)output.ptr(row);
for ( int col = 0; col < output.cols; col++ ){
if (*ptr == 0) {
*ptr = -1;
}
ptr++;
}
}
float maxVal = 0;
float minVal = 1e100;
for( int row = 0; row < output.rows; row++ ){
const float* ptr = (const float*)output.ptr(row);
for ( int col = 0; col < output.cols; col++ ){
if (*ptr == 0) { }
else {
maxVal = std::max(*ptr, maxVal);
minVal = std::min(*ptr, minVal);
}
ptr++;
}
}
float difference = maxVal - minVal;
for( int row = 0; row < output.rows; row++ ){
float* ptr = (float*)output.ptr(row);
for ( int col = 0; col < output.cols; col++ ){
if (*ptr < 1) {
*ptr = 1;
} else {
*ptr = ((*ptr) - minVal)/difference;
}
ptr++;
}
}
}
void renderComponentsWithBoxes (Mat& SWTImage, std::vector<std::vector<SWTPoint2d> > & components,
std::vector<SWTPointPair2d > & compBB, Mat& output) {
Mat outTemp( output.size(), CV_32FC1 );
renderComponents(SWTImage, components, outTemp);
std::vector<SWTPointPair2i> bb;
bb.reserve(compBB.size());
for (auto& it : compBB) {
Point2i p0 = cvPoint(it.first.x, it.first.y);
Point2i p1 = cvPoint(it.second.x, it.second.y);
SWTPointPair2i pair(p0, p1);
bb.push_back(pair);
}
Mat out( output.size(), CV_8UC1 );
outTemp.convertTo(out, CV_8UC1, 255.);
cvtColor (out, output, CV_GRAY2RGB);
int count = 0;
for (auto it : bb) {
Scalar c;
if (count % 3 == 0) {
c = BLUE;
}
else if (count % 3 == 1) {
c = GREEN;
}
else {
c = RED;
}
count++;
rectangle(output, it.first, it.second, c, 2);
}
}
void renderChainsWithBoxes (Mat& SWTImage,
std::vector<std::vector<SWTPoint2d> > & components,
std::vector<Chain> & chains,
std::vector<SWTPointPair2d > & compBB,
Mat& output) {
// keep track of included components
std::vector<bool> included;
included.reserve(components.size());
for (unsigned int i = 0; i != components.size(); i++) {
included.push_back(false);
}
for (Chain& it : chains) {
for (std::vector<int>::iterator cit = it.components.begin(); cit != it.components.end(); cit++) {
included[*cit] = true;
}
}
std::vector<std::vector<SWTPoint2d> > componentsRed;
for (unsigned int i = 0; i != components.size(); i++ ) {
if (included[i]) {
componentsRed.push_back(components[i]);
}
}
Mat outTemp( output.size(), CV_32FC1 );
std::cout << componentsRed.size() << " components after chaining" << std::endl;
renderComponents(SWTImage, componentsRed, outTemp);
std::vector<SWTPointPair2i > bb;
bb = findBoundingBoxes(components, chains, compBB, outTemp);
Mat out( output.size(), CV_8UC1 );
outTemp.convertTo(out, CV_8UC1, 255);
cvtColor (out, output, CV_GRAY2RGB);
int count = 0;
for (auto& it : bb) {
CvScalar c;
if (count % 3 == 0) {
c = BLUE;
}
else if (count % 3 == 1) {
c = GREEN;
}
else {
c = RED;
}
count++;
rectangle(output, it.first, it.second, c, 2);
}
}
void renderChains (Mat& SWTImage,
std::vector<std::vector<SWTPoint2d> > & components,
std::vector<Chain> & chains,
Mat& output) {
// keep track of included components
std::vector<bool> included;
included.reserve(components.size());
for (unsigned int i = 0; i != components.size(); i++) {
included.push_back(false);
}
for (std::vector<Chain>::iterator it = chains.begin(); it != chains.end();it++) {
for (std::vector<int>::iterator cit = it->components.begin(); cit != it->components.end(); cit++) {
included[*cit] = true;
}
}
std::vector<std::vector<SWTPoint2d> > componentsRed;
for (unsigned int i = 0; i != components.size(); i++ ) {
if (included[i]) {
componentsRed.push_back(components[i]);
}
}
std::cout << componentsRed.size() << " components after chaining" << std::endl;
Mat outTemp( output.size(), CV_32FC1 );
renderComponents(SWTImage,componentsRed,outTemp);
outTemp.convertTo(output, CV_8UC1, 255);
}
Mat textDetection (const Mat& input, bool dark_on_light) {
assert ( input.depth() == CV_8U );
assert ( input.channels() == 3 );
std::cout << "Running textDetection with dark_on_light " << dark_on_light << std::endl;
// Convert to grayscale
Mat grayImage( input.size(), CV_8UC1 );
cvtColor ( input, grayImage, CV_RGB2GRAY );
// Create Canny Image
double threshold_low = 175;
double threshold_high = 320;
Mat edgeImage( input.size(),CV_8UC1 );
Canny(grayImage, edgeImage, threshold_low, threshold_high, 3) ;
imwrite ( "canny.png", edgeImage);
// Create gradient X, gradient Y
Mat gaussianImage( input.size(), CV_32FC1);
grayImage.convertTo(gaussianImage, CV_32FC1, 1./255.);
GaussianBlur( gaussianImage, gaussianImage, Size(5, 5), 0);
Mat gradientX( input.size(), CV_32FC1 );
Mat gradientY( input.size(), CV_32FC1 );
Scharr(gaussianImage, gradientX, -1, 1, 0);
Scharr(gaussianImage, gradientY, -1, 0, 1);
GaussianBlur(gradientX, gradientX, Size(3, 3), 0);
GaussianBlur(gradientY, gradientY, Size(3, 3), 0);
// Calculate SWT and return ray vectors
std::vector<Ray> rays;
Mat SWTImage( input.size(), CV_32FC1 );
for( int row = 0; row < input.rows; row++ ){
float* ptr = (float*)SWTImage.ptr(row);
for ( int col = 0; col < input.cols; col++ ){
*ptr++ = -1;
}
}
strokeWidthTransform ( edgeImage, gradientX, gradientY, dark_on_light, SWTImage, rays );
SWTMedianFilter ( SWTImage, rays );
Mat output2( input.size(), CV_32FC1 );
normalizeImage (SWTImage, output2);
Mat saveSWT( input.size(), CV_8UC1 );
output2.convertTo(saveSWT, CV_8UC1, 255);
imwrite ( "SWT.png", saveSWT);
// Calculate legally connect components from SWT and gradient image.
// return type is a vector of vectors, where each outer vector is a component and
// the inner vector contains the (y,x) of each pixel in that component.
std::vector<std::vector<SWTPoint2d> > components = findLegallyConnectedComponents(SWTImage, rays);
// Filter the components
std::vector<std::vector<SWTPoint2d> > validComponents;
std::vector<SWTPointPair2d > compBB;
std::vector<Point2dFloat> compCenters;
std::vector<float> compMedians;
std::vector<SWTPoint2d> compDimensions;
filterComponents(SWTImage, components, validComponents, compCenters, compMedians, compDimensions, compBB );
Mat output3( input.size(), CV_8UC3 );
renderComponentsWithBoxes (SWTImage, validComponents, compBB, output3);
imwrite ( "components.png",output3);
//
// Make chains of components
std::vector<Chain> chains;
chains = makeChains(input, validComponents, compCenters, compMedians, compDimensions, compBB);
Mat output4( input.size(), CV_8UC1 );
renderChains ( SWTImage, validComponents, chains, output4 );
//imwrite ( "text.png", output4);
Mat output5( input.size(), CV_8UC3 );
cvtColor (output4, output5, CV_GRAY2RGB);
/*IplImage * output =
cvCreateImage ( input.size(), CV_8UC3 );
renderChainsWithBoxes ( SWTImage, validComponents, chains, compBB, output); */
return output5;
}
void strokeWidthTransform (const Mat& edgeImage,
Mat& gradientX,
Mat& gradientY,
bool dark_on_light,
Mat& SWTImage,
std::vector<Ray> & rays) {
// First pass
float prec = .05;
for( int row = 0; row < edgeImage.rows; row++ ){
const uchar* ptr = (const uchar*)edgeImage.ptr(row);
for ( int col = 0; col < edgeImage.cols; col++ ){
if (*ptr > 0) {
Ray r;
SWTPoint2d p;
p.x = col;
p.y = row;
r.p = p;
std::vector<SWTPoint2d> points;
points.push_back(p);
float curX = (float)col + 0.5;
float curY = (float)row + 0.5;
int curPixX = col;
int curPixY = row;
float G_x = gradientX.at<float>(row, col);
float G_y = gradientY.at<float>(row, col);
// normalize gradient
float mag = sqrt( (G_x * G_x) + (G_y * G_y) );
if (dark_on_light){
G_x = -G_x/mag;
G_y = -G_y/mag;
} else {
G_x = G_x/mag;
G_y = G_y/mag;
}
while (true) {
curX += G_x*prec;
curY += G_y*prec;
if ((int)(floor(curX)) != curPixX || (int)(floor(curY)) != curPixY) {
curPixX = (int)(floor(curX));
curPixY = (int)(floor(curY));
// check if pixel is outside boundary of image
if (curPixX < 0 || (curPixX >= SWTImage.cols) || curPixY < 0 || (curPixY >= SWTImage.rows)) {
break;
}
SWTPoint2d pnew;
pnew.x = curPixX;
pnew.y = curPixY;
points.push_back(pnew);
if (edgeImage.at<uchar>(curPixY, curPixX) > 0) {
r.q = pnew;
// dot product
float G_xt = gradientX.at<float>(curPixY,curPixX);
float G_yt = gradientY.at<float>(curPixY,curPixX);
mag = sqrt( (G_xt * G_xt) + (G_yt * G_yt) );
if (dark_on_light) {
G_xt = -G_xt / mag;
G_yt = -G_yt / mag;
} else {
G_xt = G_xt / mag;
G_yt = G_yt / mag;
}
if (acos(G_x * -G_xt + G_y * -G_yt) < PI/2.0 ) {
float length = sqrt( ((float)r.q.x - (float)r.p.x)*((float)r.q.x - (float)r.p.x) + ((float)r.q.y - (float)r.p.y)*((float)r.q.y - (float)r.p.y));
for (std::vector<SWTPoint2d>::iterator pit = points.begin(); pit != points.end(); pit++) {
if (SWTImage.at<float>(pit->y, pit->x) < 0) {
SWTImage.at<float>(pit->y, pit->x) = length;
} else {
SWTImage.at<float>(pit->y, pit->x) = std::min(length, SWTImage.at<float>(pit->y, pit->x));
}
}
r.points = points;
rays.push_back(r);
}
break;
}
}
}
}
ptr++;
}
}
}
void SWTMedianFilter (Mat& SWTImage, std::vector<Ray> & rays) {
for (auto& rit : rays) {
for (auto& pit : rit.points) {
pit.SWT = SWTImage.at<float>(pit.y, pit.x);
}
std::sort(rit.points.begin(), rit.points.end(), &Point2dSort);
float median = (rit.points[rit.points.size()/2]).SWT;
for (auto& pit : rit.points) {
SWTImage.at<float>(pit.y, pit.x) = std::min(pit.SWT, median);
}
}
}
bool Point2dSort (const SWTPoint2d &lhs, const SWTPoint2d &rhs) {
return lhs.SWT < rhs.SWT;
}
std::vector< std::vector<SWTPoint2d> > findLegallyConnectedComponents (Mat& SWTImage, std::vector<Ray> & rays) {
boost::unordered_map<int, int> map;
boost::unordered_map<int, SWTPoint2d> revmap;
typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS> Graph;
int num_vertices = 0;
// Number vertices for graph. Associate each point with number
for( int row = 0; row < SWTImage.rows; row++ ){
float * ptr = (float*)SWTImage.ptr(row);
for (int col = 0; col < SWTImage.cols; col++ ){
if (*ptr > 0) {
map[row * SWTImage.cols + col] = num_vertices;
SWTPoint2d p;
p.x = col;
p.y = row;
revmap[num_vertices] = p;
num_vertices++;
}
ptr++;
}
}
Graph g(num_vertices);
for( int row = 0; row < SWTImage.rows; row++ ){
float * ptr = (float*)SWTImage.ptr(row);
for (int col = 0; col < SWTImage.cols; col++ ){
if (*ptr > 0) {
// check pixel to the right, right-down, down, left-down
int this_pixel = map[row * SWTImage.cols + col];
if (col+1 < SWTImage.cols) {
float right = SWTImage.at<float>(row, col+1);
if (right > 0 && ((*ptr)/right <= 3.0 || right/(*ptr) <= 3.0))
boost::add_edge(this_pixel, map.at(row * SWTImage.cols + col + 1), g);
}
if (row+1 < SWTImage.rows) {
if (col+1 < SWTImage.cols) {
float right_down = SWTImage.at<float>(row+1, col+1);
if (right_down > 0 && ((*ptr)/right_down <= 3.0 || right_down/(*ptr) <= 3.0))
boost::add_edge(this_pixel, map.at((row+1) * SWTImage.cols + col + 1), g);
}
float down = SWTImage.at<float>(row+1, col);
if (down > 0 && ((*ptr)/down <= 3.0 || down/(*ptr) <= 3.0))
boost::add_edge(this_pixel, map.at((row+1) * SWTImage.cols + col), g);
if (col-1 >= 0) {
float left_down = SWTImage.at<float>(row+1, col-1);
if (left_down > 0 && ((*ptr)/left_down <= 3.0 || left_down/(*ptr) <= 3.0))
boost::add_edge(this_pixel, map.at((row+1) * SWTImage.cols + col - 1), g);
}
}
}
ptr++;
}
}
std::vector<int> c(num_vertices);
int num_comp = connected_components(g, &c[0]);
std::vector<std::vector<SWTPoint2d> > components;
components.reserve(num_comp);
std::cout << "Before filtering, " << num_comp << " components and " << num_vertices << " vertices" << std::endl;
for (int j = 0; j < num_comp; j++) {
std::vector<SWTPoint2d> tmp;
components.push_back( tmp );
}
for (int j = 0; j < num_vertices; j++) {
SWTPoint2d p = revmap[j];
(components[c[j]]).push_back(p);
}
return components;
}
std::vector< std::vector<SWTPoint2d> >
findLegallyConnectedComponentsRAY (Mat& SWTImage,
std::vector<Ray> & rays)
{
boost::unordered_map<int, int> map;
boost::unordered_map<int, SWTPoint2d> revmap;
typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS> Graph;
int num_vertices = 0;
// Number vertices for graph. Associate each point with number
for( int row = 0; row < SWTImage.rows; row++ ){
float * ptr = (float*)SWTImage.ptr(row);
for (int col = 0; col < SWTImage.cols; col++ ){
if (*ptr > 0) {
map[row * SWTImage.cols + col] = num_vertices;
SWTPoint2d p;
p.x = col;
p.y = row;
revmap[num_vertices] = p;
num_vertices++;
}
ptr++;
}
}
Graph g(num_vertices);
// Traverse and add edges to graph
for (std::vector<Ray>::const_iterator it = rays.begin(); it != rays.end(); it++) {
float lastSW = 0;
int lastRow = 0;
int lastCol = 0;
for (std::vector<SWTPoint2d>::const_iterator it2 = it->points.begin(); it2 != it->points.end(); it2++) {
float currentSW = SWTImage.at<float>(it2->y, it2->x);
if (lastSW == 0) {}
else if (lastSW/currentSW<=3.0 || currentSW/lastSW<=3.0){
boost::add_edge(map.at(it2->y * SWTImage.cols + it2->x), map.at(lastRow * SWTImage.cols + lastCol), g);
}
lastSW = currentSW;
lastRow = it2->y;
lastCol = it2->x;
}
lastSW = 0;
lastRow = 0;
lastCol = 0;
}
std::vector<int> c(num_vertices);
int num_comp = connected_components(g, &c[0]);
std::vector<std::vector<SWTPoint2d> > components;
components.reserve(num_comp);
std::cout << "Before filtering, " << num_comp << " components and " << num_vertices << " vertices" << std::endl;
for (int j = 0; j < num_comp; j++) {
std::vector<SWTPoint2d> tmp;
components.push_back( tmp );
}
for (int j = 0; j < num_vertices; j++) {
SWTPoint2d p = revmap[j];
(components[c[j]]).push_back(p);
}
return components;
}
void componentStats(Mat& SWTImage,
const std::vector<SWTPoint2d> & component,
float & mean, float & variance, float & median,
int & minx, int & miny, int & maxx, int & maxy)
{
std::vector<float> temp;
temp.reserve(component.size());
mean = 0;
variance = 0;
minx = 1000000;
miny = 1000000;
maxx = 0;
maxy = 0;
for (std::vector<SWTPoint2d>::const_iterator it = component.begin(); it != component.end(); it++) {
float t = SWTImage.at<float>(it->y, it->x);
mean += t;
temp.push_back(t);
miny = std::min(miny,it->y);
minx = std::min(minx,it->x);
maxy = std::max(maxy,it->y);
maxx = std::max(maxx,it->x);
}
mean = mean / ((float)component.size());
for (std::vector<float>::const_iterator it = temp.begin(); it != temp.end(); it++) {
variance += (*it - mean) * (*it - mean);
}
variance = variance / ((float)component.size());
std::sort(temp.begin(),temp.end());
median = temp[temp.size()/2];
}
void filterComponents(Mat& SWTImage,
std::vector<std::vector<SWTPoint2d> > & components,
std::vector<std::vector<SWTPoint2d> > & validComponents,
std::vector<Point2dFloat> & compCenters,
std::vector<float> & compMedians,
std::vector<SWTPoint2d> & compDimensions,
std::vector<SWTPointPair2d > & compBB )
{
validComponents.reserve(components.size());
compCenters.reserve(components.size());
compMedians.reserve(components.size());
compDimensions.reserve(components.size());
// bounding boxes
compBB.reserve(components.size());
for (std::vector<std::vector<SWTPoint2d> >::iterator it = components.begin(); it != components.end();it++) {
// compute the stroke width mean, variance, median
float mean, variance, median;
int minx, miny, maxx, maxy;
componentStats(SWTImage, (*it), mean, variance, median, minx, miny, maxx, maxy);
// check if variance is less than half the mean
if (variance > 0.5 * mean) {
continue;
}
float length = (float)(maxx-minx+1);
float width = (float)(maxy-miny+1);
// check font height
if (width > 300) {
continue;
}
float area = length * width;
float rminx = (float)minx;
float rmaxx = (float)maxx;
float rminy = (float)miny;
float rmaxy = (float)maxy;
// compute the rotated bounding box
float increment = 1./36.;
for (float theta = increment * PI; theta<PI/2.0; theta += increment * PI) {
float xmin,xmax,ymin,ymax,xtemp,ytemp,ltemp,wtemp;
xmin = 1000000;
ymin = 1000000;
xmax = 0;
ymax = 0;
for (unsigned int i = 0; i < (*it).size(); i++) {
xtemp = (*it)[i].x * cos(theta) + (*it)[i].y * -sin(theta);
ytemp = (*it)[i].x * sin(theta) + (*it)[i].y * cos(theta);
xmin = std::min(xtemp,xmin);
xmax = std::max(xtemp,xmax);
ymin = std::min(ytemp,ymin);
ymax = std::max(ytemp,ymax);
}
ltemp = xmax - xmin + 1;
wtemp = ymax - ymin + 1;
if (ltemp*wtemp < area) {
area = ltemp*wtemp;
length = ltemp;
width = wtemp;
}
}
// check if the aspect ratio is between 1/10 and 10
if (length/width < 1./10. || length/width > 10.) {
continue;
}
// compute the diameter TODO finish
// compute dense representation of component
std::vector <std::vector<float> > denseRepr;
denseRepr.reserve(maxx-minx+1);
for (int i = 0; i < maxx-minx+1; i++) {
std::vector<float> tmp;
tmp.reserve(maxy-miny+1);
denseRepr.push_back(tmp);
for (int j = 0; j < maxy-miny+1; j++) {\
denseRepr[i].push_back(0);
}
}
for (std::vector<SWTPoint2d>::iterator pit = it->begin(); pit != it->end(); pit++) {
(denseRepr[pit->x - minx])[pit->y - miny] = 1;
}
// create graph representing components
const int num_nodes = it->size();
/*
E edges[] = { E(0,2),
E(1,1), E(1,3), E(1,4),
E(2,1), E(2,3),
E(3,4),
E(4,0), E(4,1) };
Graph G(edges + sizeof(edges) / sizeof(E), weights, num_nodes);
*/
Point2dFloat center;
center.x = ((float)(maxx+minx))/2.0;
center.y = ((float)(maxy+miny))/2.0;
SWTPoint2d dimensions;
dimensions.x = maxx - minx + 1;
dimensions.y = maxy - miny + 1;
SWTPoint2d bb1;
bb1.x = minx;
bb1.y = miny;
SWTPoint2d bb2;
bb2.x = maxx;
bb2.y = maxy;
SWTPointPair2d pair(bb1,bb2);
compBB.push_back(pair);
compDimensions.push_back(dimensions);
compMedians.push_back(median);
compCenters.push_back(center);
validComponents.push_back(*it);
}
std::vector<std::vector<SWTPoint2d > > tempComp;
std::vector<SWTPoint2d > tempDim;
std::vector<float > tempMed;
std::vector<Point2dFloat > tempCenters;
std::vector<SWTPointPair2d > tempBB;
tempComp.reserve(validComponents.size());
tempCenters.reserve(validComponents.size());
tempDim.reserve(validComponents.size());
tempMed.reserve(validComponents.size());
tempBB.reserve(validComponents.size());
for (unsigned int i = 0; i < validComponents.size(); i++) {
int count = 0;
for (unsigned int j = 0; j < validComponents.size(); j++) {
if (i != j) {
if (compBB[i].first.x <= compCenters[j].x && compBB[i].second.x >= compCenters[j].x &&
compBB[i].first.y <= compCenters[j].y && compBB[i].second.y >= compCenters[j].y) {
count++;
}
}
}
if (count < 2) {
tempComp.push_back(validComponents[i]);
tempCenters.push_back(compCenters[i]);
tempMed.push_back(compMedians[i]);
tempDim.push_back(compDimensions[i]);
tempBB.push_back(compBB[i]);
}
}
validComponents = tempComp;
compDimensions = tempDim;
compMedians = tempMed;
compCenters = tempCenters;
compBB = tempBB;
compDimensions.reserve(tempComp.size());
compMedians.reserve(tempComp.size());
compCenters.reserve(tempComp.size());
validComponents.reserve(tempComp.size());
compBB.reserve(tempComp.size());
std::cout << "After filtering " << validComponents.size() << " components" << std::endl;
}
bool sharesOneEnd( Chain c0, Chain c1) {
if (c0.p == c1.p || c0.p == c1.q || c0.q == c1.q || c0.q == c1.p) {
return true;
}
else {
return false;
}
}
bool chainSortDist (const Chain &lhs, const Chain &rhs) {
return lhs.dist < rhs.dist;
}
bool chainSortLength (const Chain &lhs, const Chain &rhs) {
return lhs.components.size() > rhs.components.size();
}
std::vector<Chain> makeChains( const Mat& colorImage,
std::vector<std::vector<SWTPoint2d> > & components,
std::vector<Point2dFloat> & compCenters,
std::vector<float> & compMedians,
std::vector<SWTPoint2d> & compDimensions,
std::vector<SWTPointPair2d > & compBB) {
assert (compCenters.size() == components.size());
// make vector of color averages
std::vector<Point3dFloat> colorAverages;
colorAverages.reserve(components.size());
for (std::vector<std::vector<SWTPoint2d> >::iterator it = components.begin(); it != components.end();it++) {
Point3dFloat mean;
mean.x = 0;
mean.y = 0;
mean.z = 0;
int num_points = 0;
for (std::vector<SWTPoint2d>::iterator pit = it->begin(); pit != it->end(); pit++) {
mean.x += (float) colorImage.at<uchar>(pit->y, (pit->x)*3 );
mean.y += (float) colorImage.at<uchar>(pit->y, (pit->x)*3+1 );
mean.z += (float) colorImage.at<uchar>(pit->y, (pit->x)*3+2 );
num_points++;
}
mean.x = mean.x / ((float)num_points);
mean.y = mean.y / ((float)num_points);
mean.z = mean.z / ((float)num_points);
colorAverages.push_back(mean);
}
// form all eligible pairs and calculate the direction of each
std::vector<Chain> chains;
for ( unsigned int i = 0; i < components.size(); i++ ) {
for ( unsigned int j = i + 1; j < components.size(); j++ ) {
// TODO add color metric
if ( (compMedians[i]/compMedians[j] <= 2.0 || compMedians[j]/compMedians[i] <= 2.0) &&
(compDimensions[i].y/compDimensions[j].y <= 2.0 || compDimensions[j].y/compDimensions[i].y <= 2.0)) {
float dist = (compCenters[i].x - compCenters[j].x) * (compCenters[i].x - compCenters[j].x) +
(compCenters[i].y - compCenters[j].y) * (compCenters[i].y - compCenters[j].y);
float colorDist = (colorAverages[i].x - colorAverages[j].x) * (colorAverages[i].x - colorAverages[j].x) +
(colorAverages[i].y - colorAverages[j].y) * (colorAverages[i].y - colorAverages[j].y) +
(colorAverages[i].z - colorAverages[j].z) * (colorAverages[i].z - colorAverages[j].z);
if (dist < 9*(float)(std::max(std::min(compDimensions[i].x,compDimensions[i].y),std::min(compDimensions[j].x,compDimensions[j].y)))
*(float)(std::max(std::min(compDimensions[i].x,compDimensions[i].y),std::min(compDimensions[j].x,compDimensions[j].y)))
&& colorDist < 1600) {
Chain c;
c.p = i;
c.q = j;
std::vector<int> comps;
comps.push_back(c.p);
comps.push_back(c.q);
c.components = comps;
c.dist = dist;
float d_x = (compCenters[i].x - compCenters[j].x);
float d_y = (compCenters[i].y - compCenters[j].y);
/*
float d_x = (compBB[i].first.x - compBB[j].second.x);
float d_y = (compBB[i].second.y - compBB[j].second.y);
*/
float mag = sqrt(d_x*d_x + d_y*d_y);
d_x = d_x / mag;
d_y = d_y / mag;
Point2dFloat dir;
dir.x = d_x;
dir.y = d_y;
c.direction = dir;
chains.push_back(c);
/*std::cerr << c.p << " " << c.q << std::endl;
std::cerr << c.direction.x << " " << c.direction.y << std::endl;
std::cerr << compCenters[c.p].x << " " << compCenters[c.p].y << std::endl;
std::cerr << compCenters[c.q].x << " " << compCenters[c.q].y << std::endl;
std::cerr << std::endl;
std::cerr << colorDist << std::endl; */
}
}
}
}
std::cout << chains.size() << " eligible pairs" << std::endl;
std::sort(chains.begin(), chains.end(), &chainSortDist);
std::cerr << std::endl;
const float strictness = PI/6.0;
//merge chains
int merges = 1;
while (merges > 0) {
for (unsigned int i = 0; i < chains.size(); i++) {
chains[i].merged = false;
}
merges = 0;
std::vector<Chain> newchains;
for (unsigned int i = 0; i < chains.size(); i++) {
for (unsigned int j = 0; j < chains.size(); j++) {
if (i != j) {
if (!chains[i].merged && !chains[j].merged && sharesOneEnd(chains[i],chains[j])) {
if (chains[i].p == chains[j].p) {
if (acos(chains[i].direction.x * -chains[j].direction.x + chains[i].direction.y * -chains[j].direction.y) < strictness) {
/* if (chains[i].p == chains[i].q || chains[j].p == chains[j].q) {
std::cout << "CRAZY ERROR" << std::endl;
} else if (chains[i].p == chains[j].p && chains[i].q == chains[j].q) {
std::cout << "CRAZY ERROR" << std::endl;
} else if (chains[i].p == chains[j].q && chains[i].q == chains[j].p) {
std::cout << "CRAZY ERROR" << std::endl;
}
std::cerr << 1 <<std::endl;
std::cerr << chains[i].p << " " << chains[i].q << std::endl;
std::cerr << chains[j].p << " " << chains[j].q << std::endl;
std::cerr << compCenters[chains[i].q].x << " " << compCenters[chains[i].q].y << std::endl;
std::cerr << compCenters[chains[i].p].x << " " << compCenters[chains[i].p].y << std::endl;
std::cerr << compCenters[chains[j].q].x << " " << compCenters[chains[j].q].y << std::endl;
std::cerr << std::endl; */
chains[i].p = chains[j].q;
for (std::vector<int>::iterator it = chains[j].components.begin(); it != chains[j].components.end(); it++) {
chains[i].components.push_back(*it);
}
float d_x = (compCenters[chains[i].p].x - compCenters[chains[i].q].x);
float d_y = (compCenters[chains[i].p].y - compCenters[chains[i].q].y);
chains[i].dist = d_x * d_x + d_y * d_y;
float mag = sqrt(d_x*d_x + d_y*d_y);
d_x = d_x / mag;
d_y = d_y / mag;
Point2dFloat dir;
dir.x = d_x;
dir.y = d_y;
chains[i].direction = dir;
chains[j].merged = true;
merges++;
/*j=-1;
i=0;
if (i == chains.size() - 1) i=-1;
std::stable_sort(chains.begin(), chains.end(), &chainSortLength);*/
}
} else if (chains[i].p == chains[j].q) {
if (acos(chains[i].direction.x * chains[j].direction.x + chains[i].direction.y * chains[j].direction.y) < strictness) {
/*
if (chains[i].p == chains[i].q || chains[j].p == chains[j].q) {
std::cout << "CRAZY ERROR" << std::endl;
} else if (chains[i].p == chains[j].p && chains[i].q == chains[j].q) {
std::cout << "CRAZY ERROR" << std::endl;
} else if (chains[i].p == chains[j].q && chains[i].q == chains[j].p) {
std::cout << "CRAZY ERROR" << std::endl;
}
std::cerr << 2 <<std::endl;
std::cerr << chains[i].p << " " << chains[i].q << std::endl;
std::cerr << chains[j].p << " " << chains[j].q << std::endl;
std::cerr << chains[i].direction.x << " " << chains[i].direction.y << std::endl;
std::cerr << chains[j].direction.x << " " << chains[j].direction.y << std::endl;
std::cerr << compCenters[chains[i].q].x << " " << compCenters[chains[i].q].y << std::endl;
std::cerr << compCenters[chains[i].p].x << " " << compCenters[chains[i].p].y << std::endl;
std::cerr << compCenters[chains[j].p].x << " " << compCenters[chains[j].p].y << std::endl;
std::cerr << std::endl; */
chains[i].p = chains[j].p;
for (std::vector<int>::iterator it = chains[j].components.begin(); it != chains[j].components.end(); it++) {
chains[i].components.push_back(*it);
}
float d_x = (compCenters[chains[i].p].x - compCenters[chains[i].q].x);
float d_y = (compCenters[chains[i].p].y - compCenters[chains[i].q].y);
float mag = sqrt(d_x*d_x + d_y*d_y);
chains[i].dist = d_x * d_x + d_y * d_y;