16acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/*M/////////////////////////////////////////////////////////////////////////////////////// 26acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 36acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 46acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 56acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// By downloading, copying, installing or using the software you agree to this license. 66acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// If you do not agree to this license, do not download, install, 76acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// copy or use the software. 86acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 96acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 106acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Intel License Agreement 116acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// For Open Source Computer Vision Library 126acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 136acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Copyright (C) 2000, Intel Corporation, all rights reserved. 146acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Third party copyrights are property of their respective owners. 156acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 166acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Redistribution and use in source and binary forms, with or without modification, 176acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// are permitted provided that the following conditions are met: 186acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 196acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// * Redistribution's of source code must retain the above copyright notice, 206acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// this list of conditions and the following disclaimer. 216acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 226acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// * Redistribution's in binary form must reproduce the above copyright notice, 236acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// this list of conditions and the following disclaimer in the documentation 246acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// and/or other materials provided with the distribution. 256acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 266acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// * The name of Intel Corporation may not be used to endorse or promote products 276acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// derived from this software without specific prior written permission. 286acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 296acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// This software is provided by the copyright holders and contributors "as is" and 306acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// any express or implied warranties, including, but not limited to, the implied 316acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// warranties of merchantability and fitness for a particular purpose are disclaimed. 326acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// In no event shall the Intel Corporation or contributors be liable for any direct, 336acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// indirect, incidental, special, exemplary, or consequential damages 346acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// (including, but not limited to, procurement of substitute goods or services; 356acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// loss of use, data, or profits; or business interruption) however caused 366acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// and on any theory of liability, whether in contract, strict liability, 376acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// or tort (including negligence or otherwise) arising in any way out of 386acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// the use of this software, even if advised of the possibility of such damage. 396acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 406acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn//M*/ 416acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn#include "_cv.h" 426acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 436acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renntypedef struct _PointInfo 446acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn{ 456acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvPoint pt; 466acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int left_neigh; 476acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int right_neigh; 486acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 496acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn} 506acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius RennicvPointInfo; 516acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 526acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 536acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Rennstatic CvStatus 546acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius RennicvFindDominantPointsIPAN( CvSeq * contour, 556acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvMemStorage * storage, 566acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvSeq ** corners, int dmin2, int dmax2, int dneigh2, float amax ) 576acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn{ 586acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvStatus status = CV_OK; 596acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 606acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* variables */ 616acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int n = contour->total; 626acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 636acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float *sharpness; 646acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float *distance; 656acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn icvPointInfo *ptInf; 666acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 676acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int i, j, k; 686acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 696acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvSeqWriter writer; 706acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 716acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float mincos = (float) cos( 3.14159265359 * amax / 180 ); 726acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 736acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* check bad arguments */ 746acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( contour == NULL ) 756acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_NULLPTR_ERR; 766acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( storage == NULL ) 776acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_NULLPTR_ERR; 786acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( corners == NULL ) 796acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_NULLPTR_ERR; 806acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dmin2 < 0 ) 816acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_BADSIZE_ERR; 826acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dmax2 < dmin2 ) 836acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_BADSIZE_ERR; 846acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( (dneigh2 > dmax2) || (dneigh2 < 0) ) 856acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_BADSIZE_ERR; 866acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( (amax < 0) || (amax > 180) ) 876acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_BADSIZE_ERR; 886acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 896acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn sharpness = (float *) cvAlloc( n * sizeof( float )); 906acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn distance = (float *) cvAlloc( n * sizeof( float )); 916acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 926acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ptInf = (icvPointInfo *) cvAlloc( n * sizeof( icvPointInfo )); 936acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 946acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/*****************************************************************************************/ 956acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/* First pass */ 966acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/*****************************************************************************************/ 976acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 986acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( CV_IS_SEQ_CHAIN_CONTOUR( contour )) 996acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1006acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvChainPtReader reader; 1016acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1026acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvStartReadChainPoints( (CvChain *) contour, &reader ); 1036acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1046acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( i = 0; i < n; i++ ) 1056acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1066acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_READ_CHAIN_POINT( ptInf[i].pt, reader ); 1076acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1086acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1096acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn else if( CV_IS_SEQ_POLYGON( contour )) 1106acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1116acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvSeqReader reader; 1126acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1136acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvStartReadSeq( contour, &reader, 0 ); 1146acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1156acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( i = 0; i < n; i++ ) 1166acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1176acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_READ_SEQ_ELEM( ptInf[i].pt, reader ); 1186acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1196acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1206acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn else 1216acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1226acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_BADFLAG_ERR; 1236acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1246acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1256acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( i = 0; i < n; i++ ) 1266acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1276acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* find nearest suitable points 1286acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn which satisfy distance constraint >dmin */ 1296acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int left_near = 0; 1306acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int right_near = 0; 1316acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int left_far, right_far; 1326acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1336acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dist_l = 0; 1346acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dist_r = 0; 1356acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1366acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int i_plus = 0; 1376acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int i_minus = 0; 1386acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1396acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float max_cos_alpha; 1406acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1416acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* find right minimum */ 1426acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn while( dist_r < dmin2 ) 1436acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1446acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dx, dy; 1456acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int ind; 1466acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1476acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( i_plus >= n ) 1486acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn goto error; 1496acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1506acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn right_near = i_plus; 1516acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1526acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dist_r < dneigh2 ) 1536acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ptInf[i].right_neigh = i_plus; 1546acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1556acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn i_plus++; 1566acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1576acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = (i + i_plus) % n; 1586acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x); 1596acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y); 1606acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dist_r = dx * dx + dy * dy; 1616acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1626acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* find right maximum */ 1636acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn while( dist_r <= dmax2 ) 1646acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1656acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dx, dy; 1666acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int ind; 1676acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1686acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( i_plus >= n ) 1696acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn goto error; 1706acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1716acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn distance[(i + i_plus) % n] = cvSqrt( dist_r ); 1726acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1736acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dist_r < dneigh2 ) 1746acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ptInf[i].right_neigh = i_plus; 1756acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1766acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn i_plus++; 1776acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1786acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn right_far = i_plus; 1796acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1806acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = (i + i_plus) % n; 1816acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1826acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x); 1836acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y); 1846acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dist_r = dx * dx + dy * dy; 1856acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 1866acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn right_far = i_plus; 1876acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1886acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* left minimum */ 1896acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn while( dist_l < dmin2 ) 1906acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 1916acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dx, dy; 1926acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int ind; 1936acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1946acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( i_minus <= -n ) 1956acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn goto error; 1966acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1976acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn left_near = i_minus; 1986acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 1996acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dist_l < dneigh2 ) 2006acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ptInf[i].left_neigh = i_minus; 2016acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2026acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn i_minus--; 2036acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2046acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = i + i_minus; 2056acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = (ind < 0) ? (n + ind) : ind; 2066acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2076acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x); 2086acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y); 2096acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dist_l = dx * dx + dy * dy; 2106acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 2116acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2126acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* find left maximum */ 2136acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn while( dist_l <= dmax2 ) 2146acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 2156acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dx, dy; 2166acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int ind; 2176acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2186acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( i_minus <= -n ) 2196acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn goto error; 2206acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2216acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = i + i_minus; 2226acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = (ind < 0) ? (n + ind) : ind; 2236acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2246acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn distance[ind] = cvSqrt( dist_l ); 2256acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2266acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dist_l < dneigh2 ) 2276acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ptInf[i].left_neigh = i_minus; 2286acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2296acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn i_minus--; 2306acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2316acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn left_far = i_minus; 2326acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2336acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = i + i_minus; 2346acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = (ind < 0) ? (n + ind) : ind; 2356acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2366acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dx = (float) (ptInf[i].pt.x - ptInf[ind].pt.x); 2376acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dy = (float) (ptInf[i].pt.y - ptInf[ind].pt.y); 2386acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dist_l = dx * dx + dy * dy; 2396acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 2406acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn left_far = i_minus; 2416acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2426acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( (i_plus - i_minus) > n + 2 ) 2436acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn goto error; 2446acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2456acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn max_cos_alpha = -1; 2466acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( j = left_far + 1; j < left_near; j++ ) 2476acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 2486acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float dx, dy; 2496acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float a, a2; 2506acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int leftind = i + j; 2516acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2526acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn leftind = (leftind < 0) ? (n + leftind) : leftind; 2536acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2546acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn a = distance[leftind]; 2556acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn a2 = a * a; 2566acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2576acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( k = right_near + 1; k < right_far; k++ ) 2586acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 2596acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int ind = (i + k) % n; 2606acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float c2, cosalpha; 2616acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float b = distance[ind]; 2626acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn float b2 = b * b; 2636acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2646acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* compute cosinus */ 2656acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dx = (float) (ptInf[leftind].pt.x - ptInf[ind].pt.x); 2666acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dy = (float) (ptInf[leftind].pt.y - ptInf[ind].pt.y); 2676acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2686acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn c2 = dx * dx + dy * dy; 2696acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cosalpha = (a2 + b2 - c2) / (2 * a * b); 2706acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2716acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn max_cos_alpha = MAX( max_cos_alpha, cosalpha ); 2726acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2736acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( max_cos_alpha < mincos ) 2746acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn max_cos_alpha = -1; 2756acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2766acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn sharpness[i] = max_cos_alpha; 2776acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 2786acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 2796acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 2806acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/*****************************************************************************************/ 2816acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/* Second pass */ 2826acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/*****************************************************************************************/ 2836acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2846acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvStartWriteSeq( (contour->flags & ~CV_SEQ_ELTYPE_MASK) | CV_SEQ_ELTYPE_INDEX, 2856acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn sizeof( CvSeq ), sizeof( int ), storage, &writer ); 2866acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2876acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* second pass - nonmaxima suppression */ 2886acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* neighborhood of point < dneigh2 */ 2896acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( i = 0; i < n; i++ ) 2906acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 2916acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int suppressed = 0; 2926acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( sharpness[i] == -1 ) 2936acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn continue; 2946acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 2956acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( j = 1; (j <= ptInf[i].right_neigh) && (suppressed == 0); j++ ) 2966acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 2976acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( sharpness[i] < sharpness[(i + j) % n] ) 2986acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn suppressed = 1; 2996acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 3006acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3016acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn for( j = -1; (j >= ptInf[i].left_neigh) && (suppressed == 0); j-- ) 3026acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 3036acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int ind = i + j; 3046acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3056acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn ind = (ind < 0) ? (n + ind) : ind; 3066acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( sharpness[i] < sharpness[ind] ) 3076acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn suppressed = 1; 3086acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 3096acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3106acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( !suppressed ) 3116acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_WRITE_SEQ_ELEM( i, writer ); 3126acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 3136acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3146acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn *corners = cvEndWriteSeq( &writer ); 3156acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3166acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvFree( &sharpness ); 3176acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvFree( &distance ); 3186acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvFree( &ptInf ); 3196acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3206acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return status; 3216acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3226acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn error: 3236acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn /* dmax is so big (more than contour diameter) 3246acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn that algorithm could become infinite cycle */ 3256acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvFree( &sharpness ); 3266acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvFree( &distance ); 3276acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn cvFree( &ptInf ); 3286acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3296acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return CV_BADRANGE_ERR; 3306acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn} 3316acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3326acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3336acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/*F/////////////////////////////////////////////////////////////////////////////////////// 3346acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Name: icvFindDominantPoints 3356acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Purpose: 3366acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Applies some algorithm to find dominant points ( corners ) of contour 3376acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 3386acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Context: 3396acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Parameters: 3406acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// contours - pointer to input contour object. 3416acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// out_numbers - array of dominant points indices 3426acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// count - length of out_numbers array on input 3436acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// and numbers of founded dominant points on output 3446acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// 3456acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// method - only CV_DOMINANT_IPAN now 3466acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// parameters - array of parameters 3476acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// for IPAN algorithm 3486acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// [0] - minimal distance 3496acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// [1] - maximal distance 3506acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// [2] - neighborhood distance (must be not greater than dmaximal distance) 3516acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// [3] - maximal possible angle of curvature 3526acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Returns: 3536acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// CV_OK or error code 3546acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// Notes: 3556acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// User must allocate out_numbers array. If it is small - function fills array 3566acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn// with part of points and returns error 3576acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn//F*/ 3586acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius RennCV_IMPL CvSeq* 3596acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius RenncvFindDominantPoints( CvSeq * contour, CvMemStorage * storage, int method, 3606acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn double parameter1, double parameter2, double parameter3, double parameter4 ) 3616acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn{ 3626acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CvSeq* corners = 0; 3636acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3646acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_FUNCNAME( "cvFindDominantPoints" ); 3656acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn __BEGIN__; 3666acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3676acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( !contour ) 3686acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_ERROR( CV_StsNullPtr, "" ); 3696acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3706acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( !storage ) 3716acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn storage = contour->storage; 3726acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3736acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( !storage ) 3746acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_ERROR( CV_StsNullPtr, "" ); 3756acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3766acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn switch (method) 3776acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 3786acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn case CV_DOMINANT_IPAN: 3796acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn { 3806acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int dmin = cvRound(parameter1); 3816acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int dmax = cvRound(parameter2); 3826acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int dneigh = cvRound(parameter3); 3836acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn int amax = cvRound(parameter4); 3846acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3856acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( amax == 0 ) 3866acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn amax = 150; 3876acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dmin == 0 ) 3886acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dmin = 7; 3896acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dmax == 0 ) 3906acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dmax = dmin + 2; 3916acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn if( dneigh == 0 ) 3926acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dneigh = dmin; 3936acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 3946acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn IPPI_CALL( icvFindDominantPointsIPAN( contour, storage, &corners, 3956acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn dmin*dmin, dmax*dmax, dneigh*dneigh, (float)amax )); 3966acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 3976acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn break; 3986acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn default: 3996acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn CV_ERROR_FROM_STATUS( CV_BADFLAG_ERR ); 4006acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn } 4016acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 4026acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn __END__; 4036acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 4046acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn return corners; 4056acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn} 4066acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn 4076acb9a7ea3d7564944e12cbc73a857b88c1301eeMarius Renn/* End of file. */ 408