void ObjectEdgeDetectorCPU::applyAngleImageCalculation() {
DataSegment<float,4> norm;
if (m_data->params.useNormalAveraging == true) {
norm = m_data->avgNormals;
} else {
norm = m_data->normals;
}
const int w = m_data->w, h = m_data->h;
core::Channel32f angleI = m_data->angleImage[0];
for (int y = 0; y < h; y++) {
for (int x = 0; x < w; x++) {
int i = x + w * y;
if (y < m_data->params.neighborhoodRange
|| y >= h - (m_data->params.neighborhoodRange)
|| x < m_data->params.neighborhoodRange
|| x >= w - (m_data->params.neighborhoodRange)) {
angleI(x, y) = 0;
} else {
float snr = 0; //sum right
float snl = 0; //sum left
float snt = 0; //sum top
float snb = 0; //sum bottom
float sntr = 0; //sum top-right
float sntl = 0; //sum top-left
float snbr = 0; //sum bottom-right
float snbl = 0; //sum bottom-left
for (int z = 1; z <= m_data->params.neighborhoodRange; z++) {
//angle between normals
//flip if angle is bigger than 90°
snr += scalarAndFlip(norm[i],norm[i + z]);
snl += scalarAndFlip(norm[i],norm[i - z]);
snt += scalarAndFlip(norm[i],norm[i + w * z]);
snb += scalarAndFlip(norm[i],norm[i - w * z]);
sntr += scalarAndFlip(norm[i],norm[i + w * z + z]);
sntl += scalarAndFlip(norm[i],norm[i + w * z - z]);
snbr += scalarAndFlip(norm[i],norm[i - w * z + z]);
snbl += scalarAndFlip(norm[i],norm[i - w * z - z]);
}
snr /= m_data->params.neighborhoodRange;
snl /= m_data->params.neighborhoodRange;
snt /= m_data->params.neighborhoodRange;
snb /= m_data->params.neighborhoodRange;
sntr /= m_data->params.neighborhoodRange;
sntl /= m_data->params.neighborhoodRange;
snbr /= m_data->params.neighborhoodRange;
snbl /= m_data->params.neighborhoodRange;
if (m_data->params.neighborhoodMode == 0) {//max
angleI(x, y) = maxAngle(snr, snl, snt, snb,
snbl, snbr, sntl, sntr);
} else if (m_data->params.neighborhoodMode == 1) {//mean
angleI(x, y) = (snr + snl + snt + snb
+ sntr + sntl + snbr + snbl) / 8;
} else {
}
}
}
}
}
/*
* findTilt() : Angle of tilt calculated with distance
* from corners (max/min_x/y)
*
* findDirection() : Direction of tilt calculated with
* distance from side mid points (max/min_x/y, center_x/y)
*
* min_x, min_y center_x,min_y max_x, min_y
* +---#-----+---------+
* | | |
* | x2,y2 | x1,y1 #
* | | |
* min_x,center_y +---------+---------+ max_x,center_y
* | | |
* # x3,y3 | x4,y4 |
* | | |
* +---------+-----#---+
* min_x, max_y center_x,max_y max_x, max_y
*
*
* # - tilted anchor corner points ( x1/2/3/4, y1/2/3/4 )
*
*/
int
Shape::findTilt()
{
int x1 = center_x, y1 = center_y, p1 = grid_w * grid_h;
int x2 = center_x, y2 = center_y, p2 = grid_w * grid_h;
int x3 = center_x, y3 = center_y, p3 = grid_w * grid_h;
int x4 = center_x, y4 = center_y, p4 = grid_w * grid_h;
int angle = 0, a1=0, a2=0, a3=0, a4=0;
int x=0, y=0, p=0; // p : roximity to corner
int bbx = (max_x - min_x)/3, bby = (max_y - min_y)/3; //inner bounding box
int direction = 1;
if(debug){
cout << endl << "[W " ;
int c = max_y-min_y;
for(int i = 1; i < c/2; i++){
cout << widths_at_y[i] << "~" << widths_at_y[c-i] << " ";
}
cout << "W] " << endl;
cout << endl << "[H " ;
c = max_x-min_x;
for(int i = 1; i < c/2; i++){
cout << heights_at_x[i] << "~" << heights_at_x[c-i] << " ";
}
cout << "H] " << endl;
}
/*
* loop through all border pixels
* only select pixels close to bounding box edge
* (selected by outside inner bounding box)
* for each quandrant measure disance from coner
* closeset to corner for each quandrant is picked as
* the anchor corner point
*/
int i = 0;
while( i < mapcount ){
x = xmap[i];
y = ymap[i];
if( abs(x-center_x) > bbx || abs(y-center_y) > bby){//close to edge
if( x > center_x && y <= center_y ){ //top right Q1
p = (max_x - x) + (y - min_y);
if(p < p1){
p1 = p; x1 = x; y1 = y;
}
}else if( x <= center_x && y <= center_y ){ //top left Q2
p = (x - min_x) + (y - min_y);
if(p < p2){
p2 = p; x2 = x; y2 = y;
}
}else if( x <= center_x && y > center_y ){ //bot left Q3
p = (x - min_x) + (max_y - y);
if(p < p3){
p3 = p; x3 = x; y3 = y;
}
}else if( x > center_x && y > center_y ){ //bot right Q4
p = (max_x - x) + (max_y - y);
if(p < p4){
p4 = p; x4 = x; y4 = y;
}
}
}
i++;
}
a1 = findAngle(x2, y2, x1, y1);
a2 = findAngle(x1, y1, x4, y4);
a3 = findAngle(x4, y4, x3, y3);
a4 = findAngle(x3, y3, x2, y2);
angle = isDiagonal(a1, a2, a3, a4) ? maxAngle(a1, a2, a3, a4) : (a1+a2+a3+a4)/4;
if(angle != 45 ) direction = findDirection(x1, y1, x2, y2, x3, y3, x4, y4);
angle*=direction;
if(debug) cout << "[ " << angle << " | " << a1 << " " << a2 << " " << a3 << " " << a4 << " ]" << endl ;
if( pixdebug ){
d_pixmap->clearPixmap();
d_markAnchor();
d_pixmap->setPen(0, 255, 0);
d_pixmap->markPoint( x1, y1, 6);
d_pixmap->setPen(0, 0, 255);
d_pixmap->markPoint( x4, y4, 6);
d_pixmap->setPen(0, 255, 255);
d_pixmap->markPoint( x3, y3, 6);
d_pixmap->setPen(0, 0, 0);
d_pixmap->markPoint( x2, y2, 6);
d_pixmap->writeImage("corners");
}
return angle;
}
