void radial_sample(int width, int height, char* data, IplImage *unwrapped, int slice)
{
IplImage *cvcast = cvCreateImageHeader(cvSize(width, height),
IPL_DEPTH_8U, 1);
cvcast->imageData = data;
// cvSaveImage("slice.png",cvcast);
CvPoint center = cvPoint(cx,cy);
unsigned char* linebuf;
for(int sample = 0; sample < RADIAL_SAMPLES; sample++) {
float theta = ((float)sample)*((2.0*PI)/(float)RADIAL_SAMPLES);
CvPoint outer = calc_ray_outer(theta, center);
// printf("%g:\t%d,%d\n", theta*(180.0/PI), outer.x, outer.y);
cvClipLine(cvSize(width, height), &outer, ¢er);
int linesize = abs(center.x-outer.x)+abs(center.y-outer.y)+1;
linebuf = (unsigned char*)malloc(linesize);
cvSampleLine(cvcast,outer,center,linebuf,4);
IplImage *castline = cvCreateImageHeader(cvSize(linesize,1), IPL_DEPTH_8U, 1);
castline->imageData = (char*)linebuf;
IplImage *sobel = cvCreateImage(cvSize(linesize,1), IPL_DEPTH_8U, 1);
cvSobel(castline, sobel, 1, 0, 3);
int layer = 0;
for(int i = 0; (i < linesize) && (layer < MAX_LAYERS); i++) {
// printf(" %d,", (int)cvGetReal1D(sobel,i));
if((int)cvGetReal1D(sobel,i) > SOBEL_THRESH) {
int max = 0, max_i = 0;
for(; i < linesize; i++) {
int curval = (int)cvGetReal1D(sobel,i);
if(curval == 0) break;
if(curval > max) {
max = curval;
max_i = i;
}
}
cvSetReal2D(unwrapped,slice,(layer*RADIAL_SAMPLES)+sample,cvGetReal1D(castline,max_i));
// printf("%d\t",max);
layer++;
}
}
// printf("\n");
/*
char filename[] = "line000.png";
sprintf(filename,"line%03d.png",(int)(theta*(180.0/PI)));
cvSaveImage(filename,sobel);
*/
cvReleaseImageHeader(&castline);
cvReleaseImage(&sobel);
free(linebuf);
}
}
static CvStatus
icvPreWarpImage8uC3R( int numLines, /* number of scanlines */
uchar * src, /* source image */
int src_step, /* line step */
uchar * dst, /* dest buffers */
int *dst_nums, /* lens of buffer */
CvSize src_size, /* image size in pixels */
int *scanlines ) /* scanlines array */
{
int k;
CvPoint start;
CvPoint end;
int curr;
int curr_dst;
CvMat mat;
curr = 0;
curr_dst = 0;
cvInitMatHeader( &mat, src_size.height, src_size.width, CV_8UC3, src, src_step );
for( k = 0; k < numLines; k++ )
{
start.x = scanlines[curr++];
start.y = scanlines[curr++];
end.x = scanlines[curr++];
end.y = scanlines[curr++];
#ifdef _DEBUG
{
CvLineIterator iterator;
assert( cvInitLineIterator( &mat, start, end, &iterator, 8 ) == dst_nums[k] );
}
#endif
cvSampleLine( &mat, start, end, dst + curr_dst, 8 );
curr_dst += dst_nums[k] * 3;
}
return CV_NO_ERR;
}
void find_box(const IplImage *blocks, CvPoint offset, int zoom, int dir16,
CvPoint *best_left, CvPoint *best_right, int *best_quality,
IplImage *debug)
{
float a = (float) dir16 / 8.0 * CV_PI;
int size = blocks->height / 2;
float spacing =
fabs(cos(a)) > fabs(sin(a)) ? fabs(cos(a)) : fabs(sin(a));
int lines = (int) round((float) size / spacing);
float line_x = (float) size * cos(a) / 2.0;
float line_y = (float) size * sin(a) / 2.0;
// printf("dir16=%d spacing=%.3f size=%d line_x=%.3f line_y=%.3f\n",
// dir16, spacing, size, line_x, line_y);
// Scanline data
int length = 2 * size + 1;
uchar buffer[3 * length];
// Results from scanlines
int lefts[lines];
int rights[lines];
int qualities[lines];
// Process each scanline
for (int y = 0; y < lines; y++) {
lefts[y] == 0;
rights[y] == 0;
qualities[y] == 0;
float up = spacing * (float) (y - lines / 2);
CvPoint pt1 =
cvPoint((int) round((float) size - sin(a) * up - line_x),
(int) round((float) size + cos(a) * up - line_y));
CvPoint pt2 =
cvPoint((int) round((float) size - sin(a) * up + line_x),
(int) round((float) size + cos(a) * up + line_y));
// if (y < 3 || y >= lines - 3)
// printf(" y=%d pt1=%d,%d pt2=%d,%d\n", y, pt1.x, pt1.y, pt2.x, pt2.y);
/* Draw all scan lines in blue
if (debug) cvLine(debug,
cvPoint(pt1.x * zoom, pt1.y * zoom),
cvPoint(pt2.x * zoom, pt2.y * zoom),
CV_RGB(0, 0, 255), 1, 8, 0);
*/
if (pt1.x < 0 || pt1.x >= blocks->width)
continue;
if (pt1.y < 0 || pt1.y >= blocks->height)
continue;
if (pt2.x < 0 || pt2.x >= blocks->width)
continue;
if (pt2.y < 0 || pt2.y >= blocks->height)
continue;
int count = cvSampleLine(blocks, pt1, pt2, buffer, 8);
find_line_range(dir16, count, buffer,
&lefts[y], &rights[y], &qualities[y]);
if (!qualities[y])
continue;
if (rights[y] - lefts[y] + 1 < MIN_WIDTH)
continue;
float c = (float) (count - 1);
CvPoint l =
interpolate(pt1, pt2, (float) lefts[y] / c, offset, zoom);
CvPoint r =
interpolate(pt1, pt2, (float) rights[y] / c, offset, zoom);
if (debug)
cvLine(debug, l, r, cvScalar(0, 0, 255, 255), 1, 8, 0);
}
*best_quality = 0;
int best_middle = 0;
int best_l = 0;
int best_r = 0;
int best_count = 0;
int first = 0;
int last = -1;
while (last < lines) {
first = last + 1;
while (first < lines && !qualities[first])
first++;
last = first;
int quality = 0;
while (last < lines && qualities[last]) {
if (rights[last + 1] < lefts[last])
break;
if (lefts[last + 1] > rights[last])
break;
quality += qualities[last];
last++;
}
int count = last - first;
int middle = (first + last) / 2;
if (count < MIN_LINES)
continue;
last--;
if (quality > *best_quality) {
*best_quality = quality;
best_count = count;
best_middle = middle;
qsort(&lefts[first], count, sizeof(int), compare_int);
best_l = lefts[middle] - 3;
qsort(&rights[first], count, sizeof(int), compare_int);
best_r = rights[middle] + 3;
}
}
float up = spacing * (float) (best_middle - lines / 2);
CvPoint pt1 = cvPoint((int) round((float) size - sin(a) * up - line_x),
(int) round((float) size + cos(a) * up -
line_y));
CvPoint pt2 = cvPoint((int) round((float) size - sin(a) * up + line_x),
(int) round((float) size + cos(a) * up +
line_y));
int count = cvSampleLine(blocks, pt1, pt2, buffer, 8);
float c = (float) (count - 1);
*best_left = interpolate(pt1, pt2, (float) best_l / c, offset, zoom);
*best_right = interpolate(pt1, pt2, (float) best_r / c, offset, zoom);
if (debug)
cvLine(debug, *best_left, *best_right, cvScalar(0, 0, 255, 255), 3,
8, 0);
}
int cveSampleLine(const void* _img, CvPoint* pt1, CvPoint* pt2, void* _buffer, int connectivity)
{
return cvSampleLine(_img, *pt1, *pt2, _buffer, connectivity);
}
