Modules/ImageProcessor/ImageProcessorTools/GT2004EdgeDetection.h

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/**
* @file Modules/ImageProcessor/ImageProcessorTools/GT2004EdgeDetection.h
* 
* This file contains an utility-class for detecting edges in digital images. 
*
* @author <A href="mailto:sadprofessor@web.de">Bernd Schmidt</A>
*/

#ifndef __GT2004EdgeDetection_h_
#define __GT2004EdgeDetection_h_

#include "Representations/Perception/Image.h"
#include "Modules/ImageProcessor/ImageProcessor.h"
#include "Modules/ImageProcessor/ImageProcessorTools/MSH2004ColorCorrector.h"
#include "Modules/ImageProcessor/ImageProcessorTools/SUSANEdgeDetectionLite.h"

/**
* @class GT2004EdgeDetection
* Utility-class for edge-detection.
*/
class GT2004EdgeDetection
{  

public:

  /**
  * Default constructor.
  */

  GT2004EdgeDetection(ImageProcessor& processor,MSH2004ColorCorrector& corrector);
  
  ~GT2004EdgeDetection();

  int threshold;

  int tempX;

  int tempY;

  bool scanEast(int& x, int& y);

  bool scanWest(int& x, int& y);
  
  bool scanNorth(int& x, int& y);

  bool scanSouth(int& x, int& y);

  bool ballScanEast(int& x, int& y);

  bool ballScanWest(int& x, int& y);

  /** Follows the given direction,
    and determines edges by the sum of all three channels.
    The position of the edge is stored in x and y.
    @param x The starting x-value.
    @param y The starting y-value.
        @param direction The direction followed.
    @return edge was found*/
  bool scan(int& x,int& y,Vector2<double> direction);

  /** Follows the given direction,
    and determines edges by the sum of all three channels.
    The position of the edge is stored in x and y.
    Fills the colorBuffer while scanning, so the client
    can determine with the colorBuffer-Array what kind of
    object was found.

    @param x The starting x-value.
    @param y The starting y-value.
        @param direction The direction followed.
    @return edge was found*/
  bool bufferedScan(int& x,int& y,Vector2<double> direction);

  /** Follows the last given direction. Skips 3 pixels at the beginning
  of each scan, while filling the buffer.*/ 
  bool bufferedScan(int& x,int& y);

    /** Follows the given direction,and searches for field-edge-points. 
    Determines edges by the sum of the first two channels.
    The position of the edge is stored in x and y.
    @param x The starting x-value.
    @param y The starting y-value.
        @param direction The direction followed.
    @return edge was found*/
  bool scanField(int& x,int& y,Vector2<double> direction);

  /** Follows the last given direction,and searches for field-edge-points. 
    Determines edges by the sum of the first two channels.
    The position of the edge is stored in x and y.
    @param x The starting x-value.
    @param y The starting y-value.
    @return edge was found*/
  bool scanField(int& x,int& y);

  /** Follows the last given direction,
    and determines edges by the sum of all three channels */
  bool scan(int& x,int& y);

  bool colorScan(int& x,int& y,Vector2<double> direction,colorClass& lastColor);

  bool colorScan(int& x,int& y,colorClass& lastColor);
  
  bool susanScan(int& x,int& y,Vector2<double> direction);
  
  bool scan(int& x,int& y,int x1,int y1);

  bool colorScan(int& x,int& y,int x1,int y1,colorClass& lastColor);

  inline void setDirection(Vector2<double> dir){
    cx = (dir.x<0)? -1 : 1;
    cy = (dir.y<0)? -1 : 1;
    dx = abs((int)(dir.x * 500.0f));
    dy = abs((int)(dir.y * 500.0f));
    if (dx>dy){
      e = dx - 2*dy;
      f = 2*(dx - dy);
      g = -2*dy;
    }
    else{
      e = dy - 2*dx;
      f = 2*(dy - dx);
      g = -2*dx;
    }
    direction = dir;
  }

  inline colorClass getColor(int index){
    return colorBuffer[index];
  }

  inline int getRange(int index){
    return ranges[index];
  }

  inline bool isHorizontalEdge(int x, int y){
    return horizontalEdgeVote(x,y) > threshold;
  }

  inline int horizontalEdgeVote(int x,int y){
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return -1;
    int cx1 = x-1;
    int cx2 = x+1;
    int a1 = ip.image.image[y][0][cx1];
    int b1 = ip.image.image[y][1][cx1];
    int c1 = ip.image.image[y][2][cx1];
    int a2 = ip.image.image[y][0][cx2];
    int b2 = ip.image.image[y][1][cx2];
    int c2 = ip.image.image[y][2][cx2];

    return abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
  }

  inline bool isVerticalEdge(int x, int y){
    return verticalEdgeVote(x,y) > threshold;
  }

  inline int verticalEdgeVote(int x,int y){
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return -1;
    int cy1 = y-1;
    int cy2 = y+1;
    int a1 = ip.image.image[cy1][0][x];
    int b1 = ip.image.image[cy1][1][x];
    int c1 = ip.image.image[cy1][2][x];
    int a2 = ip.image.image[cy2][0][x];
    int b2 = ip.image.image[cy2][1][x];
    int c2 = ip.image.image[cy2][2][x];

    return abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
  }

  inline int ballEdgeVote(int x,int y){
    //could be different code as in crossEdgeVote()
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return -1;
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return -1;
    int vertical = 0;
    int horizontal = 0;
    int p1 = x-1;
    int p2 = x+1;
    int a1 = ip.image.image[y][0][p1];
    int b1 = ip.image.image[y][1][p1];
    int c1 = ip.image.image[y][2][p1];
    int a2 = ip.image.image[y][0][p2];
    int b2 = ip.image.image[y][1][p2];
    int c2 = ip.image.image[y][2][p2];
    
    horizontal = abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
    
    p1 = y-1;
    p2 = y+1;
    a1 = ip.image.image[p1][0][x];
    b1 = ip.image.image[p1][1][x];
    c1 = ip.image.image[p1][2][x];
    a2 = ip.image.image[p2][0][x];
    b2 = ip.image.image[p2][1][x];
    c2 = ip.image.image[p2][2][x];
    
    vertical = abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
    
    return (vertical > horizontal) ? vertical : horizontal; 
  }

  inline int crossEdgeVote(int x,int y){
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return -1;
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return -1;
    int vertical = 0;
    int horizontal = 0;
    int p1 = x-1;
    int p2 = x+1;
    int a1 = ip.image.image[y][0][p1];
    int b1 = ip.image.image[y][1][p1];
    int c1 = ip.image.image[y][2][p1];
    int a2 = ip.image.image[y][0][p2];
    int b2 = ip.image.image[y][1][p2];
    int c2 = ip.image.image[y][2][p2];
    
    horizontal = abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
    
    p1 = y-1;
    p2 = y+1;
    a1 = ip.image.image[p1][0][x];
    b1 = ip.image.image[p1][1][x];
    c1 = ip.image.image[p1][2][x];
    a2 = ip.image.image[p2][0][x];
    b2 = ip.image.image[p2][1][x];
    c2 = ip.image.image[p2][2][x];
    
    vertical = abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
    
    return (vertical > horizontal) ? vertical : horizontal; 
  }
  inline int fieldEdgeVote(int x,int y){
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return -1;
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return -1;
    int vertical = 0;
    int horizontal = 0;
    int p1 = x-1;
    int p2 = x+1;
    int a1 = ip.image.image[y][0][p1];
    int b1 = ip.image.image[y][1][p1];
    int a2 = ip.image.image[y][0][p2];
    int b2 = ip.image.image[y][1][p2];

    
    horizontal = abs(a1 - a2) + abs(b1 - b2);
    
    p1 = y-1;
    p2 = y+1;
    a1 = ip.image.image[p1][0][x];
    b1 = ip.image.image[p1][1][x];
    a2 = ip.image.image[p2][0][x];
    b2 = ip.image.image[p2][1][x];
    
    vertical = abs(a1 - a2) + abs(b1 - b2);
    
    return (vertical > horizontal) ? vertical : horizontal; 
  }
  /* implemented with colorCorrection*/
  inline colorClass getColor(int x,int y){
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return (colorClass)-1;
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return (colorClass)-1;

    //TODO remove hack for color correction
    unsigned char cy = ip.image.image[y][0][x];
    unsigned char cu = ip.image.image[y][1][x];
    unsigned char cv = ip.image.image[y][2][x];
    corrector.getCorrectedPixel(x,y,cy,cu,cv);
    return ip.colorTable.getColorClass(cy,cu,cv); 
  }

  /** Gives the next pixel of last scan. This is only for the scans that
    use Bresenham's algorithm.*/
  inline void skip(int& x,int& y){
    if (dx>dy){
      x+=cx;
      if (e<0) {
        y+=cy;
        e+=f;
      }
      else {
        e+=g;
      }
    }
    else{
      y+=cy;
      if (e<0) {
        x+=cx;
        e+=f;
      }
      else {
        e+=g;
      }
    }
  }

  inline bool findStart(Vector2<int>& start,const Vector2<double>& dir){
    int dx = (int)(dir.x*300 + 0.5);
      int dy = (int)(dir.y*300 + 0.5);

    Vector2<int> rightBorder(start.x + dx,start.y + dy);

    return Geometry::clipLineWithRectangleCohenSutherland(
      Vector2<int>(1,1),
      Vector2<int>(ip.image.cameraInfo.resolutionWidth -2,ip.image.cameraInfo.resolutionHeight -2),
      start,
      rightBorder
      );
  }

  inline int getBufferSize(){
    return bufferSize;
  }

//Bresenham
/*inline void draw_line(int x0, int y0, int x1, int y1){
  int x,y=y0,dx = 2*(x1-x0),dy = 2*(y1-y0);
  int dydx = dy - dx, d = dy - dx/2;
  for(x=x0;x<=x1;x++){
    DOT(imageProcessor_general,x,y,
      Drawings::white, Drawings::red);
    if(d<0) {d+= dy;}
    else {y+=1; d += dydx;}
  }
}
*/


private:

  ImageProcessor& ip;
  
  SUSANEdgeDetectionLite susanDetector;

  MSH2004ColorCorrector corrector;
  
  Vector2<double> direction;

  int e;

  int f;

  int g;

  int dx;

  int dy;

  int cx;

  int cy;

  int bufferSize;

  colorClass currentColor;

  colorClass lastColor;
  
  int colorRange;

  /** This buffer is used to store the colors 
  * passed by a buffered scan-method during the last scan
  */
  colorClass colorBuffer[20];

  /** This buffer is used to store the ranges of the colors */
  int ranges[20];

  inline int fastCrossEdgeVote(int x,int y){
    int vertical = 0;
    int horizontal = 0;
    int p1 = x-1;
    int p2 = x+1;
    int a1 = ip.image.image[y][0][p1];
    int b1 = ip.image.image[y][1][p1];
    int c1 = ip.image.image[y][2][p1];
    int a2 = ip.image.image[y][0][p2];
    int b2 = ip.image.image[y][1][p2];
    int c2 = ip.image.image[y][2][p2];
    
    horizontal = abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
    
    p1 = y-1;
    p2 = y+1;
    a1 = ip.image.image[p1][0][x];
    b1 = ip.image.image[p1][1][x];
    c1 = ip.image.image[p1][2][x];
    a2 = ip.image.image[p2][0][x];
    b2 = ip.image.image[p2][1][x];
    c2 = ip.image.image[p2][2][x];
    
    vertical = abs(a1 - a2) + abs(b1 - b2) + abs(c1 - c2);
    
    return (vertical > horizontal) ? vertical : horizontal; 
  }

  inline void addColor(){
    if (lastColor != -1){
      colorBuffer[bufferSize] = lastColor;
      ranges[bufferSize] = colorRange;
      bufferSize++;
      colorRange = 0;
    }
    else{
      colorRange = 0;
    }
  }

  inline bool insideImage(int x,int y){
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return false;
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return false;
    return true;
  }

  inline int susanVote(int x,int y){
    if (x < 1 || x > ip.image.cameraInfo.resolutionWidth-2) return -1;
    if (y < 1 || y > ip.image.cameraInfo.resolutionHeight-2) return -1;
    int i = 0;
    //~ if (susanDetector.isEdgePoint(ip.image,x,y,
      //~ SUSANEdgeDetectionLite::componentA)) ++i;
    if (susanDetector.isEdgePoint(ip.image,x,y,
      SUSANEdgeDetectionLite::componentB)) ++i;
    //if (susanDetector.isEdgePoint(ip.image,x,y,
    //  SUSANEdgeDetectionLite::componentC)) ++i;
    return i;
  }


  
};

#endif// __GT2004EdgeDetection_h_

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