WebSVN - AndroidProjects - Rev 204 - /ARToolKit/lib/SRC/AR/arLabeling.c

/*******************************************************
*
* Author: Hirokazu Kato
*
* kato@sys.im.hiroshima-cu.ac.jp
*
* Revision: 3.1
* Date: 01/12/07
*
*
* modified by Thomas Pintaric [tp], Vienna University of Technology
**********************************************************************/

#include <stdlib.h>
#include <stdio.h>
#include <AR/ar.h>

#ifdef _WIN32
# include <windows.h>
# define put_zero(p,s) ZeroMemory(p, s)
#else
# include <string.h>
# define put_zero(p,s) memset((void *)p, 0, s)
#endif

#define USE_OPTIMIZATIONS
#define WORK_SIZE 1024*32

/*****************************************************************************/
// BUG in ARToolkit 2.65
// Hardcoded buffer (600*500) is too small for full-size DV-PAL/NTSC resolutions of
// 720x576 and 720x480, respectively. Results in segment faults.
/*
static ARInt16 l_imageL[640*500];
static ARInt16 l_imageR[640*500];
*/

#define HARDCODED_BUFFER_WIDTH 1024
#define HARDCODED_BUFFER_HEIGHT 1024

static ARInt16 l_imageL[HARDCODED_BUFFER_WIDTH*HARDCODED_BUFFER_HEIGHT];
static ARInt16 l_imageR[HARDCODED_BUFFER_WIDTH*HARDCODED_BUFFER_HEIGHT];
/*****************************************************************************/

static int workL[WORK_SIZE];
static int workR[WORK_SIZE];
static int work2L[WORK_SIZE*7];
static int work2R[WORK_SIZE*7];

static int wlabel_numL;
static int wlabel_numR;
static int wareaL[WORK_SIZE];
static int wareaR[WORK_SIZE];
static int wclipL[WORK_SIZE*4];
static int wclipR[WORK_SIZE*4];
static double wposL[WORK_SIZE*2];
static double wposR[WORK_SIZE*2];

static ARInt16 *labeling2( ARUint8 *image, int thresh,
int *label_num, int **area, double **pos, int **clip,
int **label_ref, int LorR );
static ARInt16 *labeling3( ARUint8 *image, int thresh,
int *label_num, int **area, double **pos, int **clip,
int **label_ref, int LorR );

void arGetImgFeature( int *num, int **area, int **clip, double **pos )
{
*num = wlabel_numL;
*area = wareaL;
*clip = wclipL;
*pos = wposL;

return;
}

ARInt16 *arLabeling( ARUint8 *image, int thresh,
int *label_num, int **area, double **pos, int **clip,
int **label_ref )
{
if( arDebug ) {
return( labeling3(image, thresh, label_num,
area, pos, clip, label_ref, 1) );
} else {
return( labeling2(image, thresh, label_num,
area, pos, clip, label_ref, 1) );
}
}

void arsGetImgFeature( int *num, int **area, int **clip, double **pos, int LorR )
{
if (LorR) {
*num = wlabel_numL;
*area = wareaL;
*clip = wclipL;
*pos = wposL;
} else {
*num = wlabel_numR;
*area = wareaR;
*clip = wclipR;
*pos = wposR;
}

return;
}

ARInt16 *arsLabeling( ARUint8 *image, int thresh,
int *label_num, int **area, double **pos, int **clip,
int **label_ref, int LorR )
{
if( arDebug ) {
return( labeling3(image, thresh, label_num,
area, pos, clip, label_ref, LorR) );
} else {
return( labeling2(image, thresh, label_num,
area, pos, clip, label_ref, LorR) );
}
}

static ARInt16 *labeling2( ARUint8 *image, int thresh,
int *label_num, int **area, double **pos, int **clip,
int **label_ref, int LorR )
{
ARUint8 *pnt; /* image pointer */
ARInt16 *pnt1, *pnt2; /* image pointer */
int *wk; /* pointer for work */
int wk_max; /* work */
int m,n; /* work */
int i,j,k; /* for loop */
int lxsize, lysize;
int poff;
ARInt16 *l_image;
int *work, *work2;
int *wlabel_num;
int *warea;
int *wclip;
double *wpos;
#ifdef USE_OPTIMIZATIONS
int pnt2_index; // [tp]
#endif
int thresht3 = thresh * 3;

if (LorR) {
l_image = &l_imageL[0];
work = &workL[0];
work2 = &work2L[0];
wlabel_num = &wlabel_numL;
warea = &wareaL[0];
wclip = &wclipL[0];
wpos = &wposL[0];
} else {
l_image = &l_imageR[0];
work = &workR[0];
work2 = &work2R[0];
wlabel_num = &wlabel_numR;
warea = &wareaR[0];
wclip = &wclipR[0];
wpos = &wposR[0];
}

if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) {
lxsize = arImXsize / 2;
lysize = arImYsize / 2;
} else {
lxsize = arImXsize;
lysize = arImYsize;
}

pnt1 = &l_image[0]; // Leftmost pixel of top row of image.
pnt2 = &l_image[(lysize - 1)*lxsize]; // Leftmost pixel of bottom row of image.

#ifndef USE_OPTIMIZATIONS
for(i = 0; i < lxsize; i++) {
*(pnt1++) = *(pnt2++) = 0;
}
#else
// 4x loop unrolling
for (i = 0; i < lxsize - (lxsize%4); i += 4) {
*(pnt1++) = *(pnt2++) = 0;
*(pnt1++) = *(pnt2++) = 0;
*(pnt1++) = *(pnt2++) = 0;
*(pnt1++) = *(pnt2++) = 0;
}
#endif
pnt1 = &l_image[0]; // Leftmost pixel of top row of image.
pnt2 = &l_image[lxsize - 1]; // Rightmost pixel of top row of image.

#ifndef USE_OPTIMIZATIONS
for(i = 0; i < lysize; i++) {
*pnt1 = *pnt2 = 0;
pnt1 += lxsize;
pnt2 += lxsize;
}
#else
// 4x loop unrolling
for (i = 0; i < lysize - (lysize%4); i += 4) {
*pnt1 = *pnt2 = 0;
pnt1 += lxsize;
pnt2 += lxsize;

*pnt1 = *pnt2 = 0;
pnt1 += lxsize;
pnt2 += lxsize;

*pnt1 = *pnt2 = 0;
pnt1 += lxsize;
pnt2 += lxsize;

*pnt1 = *pnt2 = 0;
pnt1 += lxsize;
pnt2 += lxsize;
}
#endif

wk_max = 0;
pnt2 = &(l_image[lxsize+1]);
if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) {
pnt = &(image[(arImXsize*2+2)*AR_PIX_SIZE_DEFAULT]);
poff = AR_PIX_SIZE_DEFAULT*2;
} else {
pnt = &(image[(arImXsize+1)*AR_PIX_SIZE_DEFAULT]);
poff = AR_PIX_SIZE_DEFAULT;
}
for (j = 1; j < lysize - 1; j++, pnt += poff*2, pnt2 += 2) {
for(i = 1; i < lxsize-1; i++, pnt+=poff, pnt2++) {
#if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)
if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR)
if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)
if( *(pnt) <= thresh )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy)
if( *(pnt+1) <= thresh )
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)
if( *(pnt+0) <= thresh )
#else
# error Unknown default pixel format defined in config.h
#endif
{
pnt1 = &(pnt2[-lxsize]);
if( *pnt1 > 0 ) {
*pnt2 = *pnt1;

#ifndef USE_OPTIMIZATIONS
// ORIGINAL CODE
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
work2[((*pnt2)-1)*7+6] = j;
#else
// OPTIMIZED CODE [tp]
// ((*pnt2)-1)*7 should be treated as constant, since
// work2[n] (n=0..xsize*ysize) cannot overwrite (*pnt2)
pnt2_index = ((*pnt2)-1) * 7;
work2[pnt2_index+0]++;
work2[pnt2_index+1]+= i;
work2[pnt2_index+2]+= j;
work2[pnt2_index+6] = j;
// --------------------------------
#endif
}
else if( *(pnt1+1) > 0 ) {
if( *(pnt1-1) > 0 ) {
m = work[*(pnt1+1)-1];
n = work[*(pnt1-1)-1];
if( m > n ) {
*pnt2 = n;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == m ) *wk = n;
wk++;
}
}
else if( m < n ) {
*pnt2 = m;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == n ) *wk = m;
wk++;
}
}
else *pnt2 = m;

#ifndef USE_OPTIMIZATIONS
// ORIGINAL CODE
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
work2[((*pnt2)-1)*7+6] = j;
#else
// PERFORMANCE OPTIMIZATION:
pnt2_index = ((*pnt2)-1) * 7;
work2[pnt2_index+0]++;
work2[pnt2_index+1]+= i;
work2[pnt2_index+2]+= j;
work2[pnt2_index+6] = j;
#endif

}
else if( *(pnt2-1) > 0 ) {
m = work[*(pnt1+1)-1];
n = work[*(pnt2-1)-1];
if( m > n ) {
*pnt2 = n;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == m ) *wk = n;
wk++;
}
}
else if( m < n ) {
*pnt2 = m;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == n ) *wk = m;
wk++;
}
}
else *pnt2 = m;

#ifndef USE_OPTIMIZATIONS
// ORIGINAL CODE
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
#else
// PERFORMANCE OPTIMIZATION:
pnt2_index = ((*pnt2)-1) * 7;
work2[pnt2_index+0]++;
work2[pnt2_index+1]+= i;
work2[pnt2_index+2]+= j;
#endif

}
else {
*pnt2 = *(pnt1+1);

#ifndef USE_OPTIMIZATIONS
// ORIGINAL CODE
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
if( work2[((*pnt2)-1)*7+3] > i ) work2[((*pnt2)-1)*7+3] = i;
work2[((*pnt2)-1)*7+6] = j;
#else
// PERFORMANCE OPTIMIZATION:
pnt2_index = ((*pnt2)-1) * 7;
work2[pnt2_index+0]++;
work2[pnt2_index+1]+= i;
work2[pnt2_index+2]+= j;
if( work2[pnt2_index+3] > i ) work2[pnt2_index+3] = i;
work2[pnt2_index+6] = j;
#endif
}
}
else if( *(pnt1-1) > 0 ) {
*pnt2 = *(pnt1-1);

#ifndef USE_OPTIMIZATIONS
// ORIGINAL CODE
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
work2[((*pnt2)-1)*7+6] = j;
#else
// PERFORMANCE OPTIMIZATION:
pnt2_index = ((*pnt2)-1) * 7;
work2[pnt2_index+0]++;
work2[pnt2_index+1]+= i;
work2[pnt2_index+2]+= j;
if( work2[pnt2_index+4] < i ) work2[pnt2_index+4] = i;
work2[pnt2_index+6] = j;
#endif
}
else if( *(pnt2-1) > 0) {
*pnt2 = *(pnt2-1);

#ifndef USE_OPTIMIZATIONS
// ORIGINAL CODE
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
#else
// PERFORMANCE OPTIMIZATION:
pnt2_index = ((*pnt2)-1) * 7;
work2[pnt2_index+0]++;
work2[pnt2_index+1]+= i;
work2[pnt2_index+2]+= j;
if( work2[pnt2_index+4] < i ) work2[pnt2_index+4] = i;
#endif
}
else {
wk_max++;
if( wk_max > WORK_SIZE ) {
return(0);
}
work[wk_max-1] = *pnt2 = wk_max;
work2[(wk_max-1)*7+0] = 1;
work2[(wk_max-1)*7+1] = i;
work2[(wk_max-1)*7+2] = j;
work2[(wk_max-1)*7+3] = i;
work2[(wk_max-1)*7+4] = i;
work2[(wk_max-1)*7+5] = j;
work2[(wk_max-1)*7+6] = j;
}
}
else {
*pnt2 = 0;
}
}
if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) pnt += arImXsize*AR_PIX_SIZE_DEFAULT;
}

j = 1;
wk = &(work[0]);
for(i = 1; i <= wk_max; i++, wk++) {
*wk = (*wk==i)? j++: work[(*wk)-1];
}
*label_num = *wlabel_num = j - 1;
if( *label_num == 0 ) {
return( l_image );
}

put_zero( (ARUint8 *)warea, *label_num * sizeof(int) );
put_zero( (ARUint8 *)wpos, *label_num * 2 * sizeof(double) );
for(i = 0; i < *label_num; i++) {
wclip[i*4+0] = lxsize;
wclip[i*4+1] = 0;
wclip[i*4+2] = lysize;
wclip[i*4+3] = 0;
}
for(i = 0; i < wk_max; i++) {
j = work[i] - 1;
warea[j] += work2[i*7+0];
wpos[j*2+0] += work2[i*7+1];
wpos[j*2+1] += work2[i*7+2];
if( wclip[j*4+0] > work2[i*7+3] ) wclip[j*4+0] = work2[i*7+3];
if( wclip[j*4+1] < work2[i*7+4] ) wclip[j*4+1] = work2[i*7+4];
if( wclip[j*4+2] > work2[i*7+5] ) wclip[j*4+2] = work2[i*7+5];
if( wclip[j*4+3] < work2[i*7+6] ) wclip[j*4+3] = work2[i*7+6];
}

for( i = 0; i < *label_num; i++ ) {
wpos[i*2+0] /= warea[i];
wpos[i*2+1] /= warea[i];
}

*label_ref = work;
*area = warea;
*pos = wpos;
*clip = wclip;
return (l_image);
}

static ARInt16 *labeling3( ARUint8 *image, int thresh,
int *label_num, int **area, double **pos, int **clip,
int **label_ref, int LorR )
{
ARUint8 *pnt; /* image pointer */
ARInt16 *pnt1, *pnt2; /* image pointer */
int *wk; /* pointer for work */
int wk_max; /* work */
int m,n; /* work */
int i,j,k; /* for loop */
int lxsize, lysize;
int poff;
ARUint8 *dpnt;
ARInt16 *l_image;
int *work, *work2;
int *wlabel_num;
int *warea;
int *wclip;
double *wpos;
int thresht3 = thresh * 3;
static int imageProcModePrev = -1;
static int imXsizePrev = -1;
static int imYsizePrev = -1;

// Ensure that the debug image is correct size.
// If size has changed, debug image will need to be re-allocated.
if (imageProcModePrev != arImageProcMode || imXsizePrev != arImXsize || imYsizePrev != arImYsize) {
arLabelingCleanup();
imageProcModePrev = arImageProcMode;
imXsizePrev = arImXsize;
imYsizePrev = arImYsize;
}

if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
lxsize = arImXsize / 2;
lysize = arImYsize / 2;
}
else {
lxsize = arImXsize;
lysize = arImYsize;
}

if( LorR ) {
l_image = &l_imageL[0];
work = &workL[0];
work2 = &work2L[0];
wlabel_num = &wlabel_numL;
warea = &wareaL[0];
wclip = &wclipL[0];
wpos = &wposL[0];
if( arImageL == NULL ) {
#if 0
int texXsize = 1;
int texYsize = 1;
while( texXsize < arImXsize ) texXsize *= 2;
if( texXsize > 512 ) texXsize = 512;
while( texYsize < arImYsize ) texYsize *= 2;
arMalloc( arImageL, ARUint8, texXsize*texYsize*AR_PIX_SIZE_DEFAULT );
#else
arMalloc( arImageL, ARUint8, arImXsize*arImYsize*AR_PIX_SIZE_DEFAULT );
#endif
put_zero( arImageL, lxsize*lysize*AR_PIX_SIZE_DEFAULT );
arImage = arImageL;
}
}
else {
l_image = &l_imageR[0];
work = &workR[0];
work2 = &work2R[0];
wlabel_num = &wlabel_numR;
warea = &wareaR[0];
wclip = &wclipR[0];
wpos = &wposR[0];
if( arImageR == NULL ) {
#if 0
int texXsize = 1;
int texYsize = 1;
while( texXsize < arImXsize ) texXsize *= 2;
if( texXsize > 512 ) texXsize = 512;
while( texYsize < arImYsize ) texYsize *= 2;
arMalloc( arImageR, ARUint8, texXsize*texYsize*AR_PIX_SIZE_DEFAULT );
#else
arMalloc( arImageR, ARUint8, arImXsize*arImYsize*AR_PIX_SIZE_DEFAULT );
#endif
put_zero( arImageR, lxsize*lysize*AR_PIX_SIZE_DEFAULT );
}
}

pnt1 = &l_image[0];
pnt2 = &l_image[(lysize-1)*lxsize];
for(i = 0; i < lxsize; i++) {
*(pnt1++) = *(pnt2++) = 0;
}

pnt1 = &l_image[0];
pnt2 = &l_image[lxsize-1];
for(i = 0; i < lysize; i++) {
*pnt1 = *pnt2 = 0;
pnt1 += lxsize;
pnt2 += lxsize;
}

wk_max = 0;
pnt2 = &(l_image[lxsize+1]);
if( LorR ) dpnt = &(arImageL[(lxsize+1)*AR_PIX_SIZE_DEFAULT]);
else dpnt = &(arImageR[(lxsize+1)*AR_PIX_SIZE_DEFAULT]);
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
pnt = &(image[(arImXsize*2+2)*AR_PIX_SIZE_DEFAULT]);
poff = AR_PIX_SIZE_DEFAULT*2;
}
else {
pnt = &(image[(arImXsize+1)*AR_PIX_SIZE_DEFAULT]);
poff = AR_PIX_SIZE_DEFAULT;
}
for(j = 1; j < lysize-1; j++, pnt+=poff*2, pnt2+=2, dpnt+=AR_PIX_SIZE_DEFAULT*2) {
for(i = 1; i < lxsize-1; i++, pnt+=poff, pnt2++, dpnt+=AR_PIX_SIZE_DEFAULT) {
#if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)
if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 ) {
*(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR)
if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 ) {
*(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)
if( *(pnt) <= thresh ) {
*(dpnt) = 255;
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy)
if( *(pnt+1) <= thresh ) {
*(dpnt+0) = 128; *(dpnt+1) = 235; // *(dpnt+0) is chroma, set to 128 to maintain black & white debug image.
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)
if( *(pnt+0) <= thresh ) {
*(dpnt+0) = 235; *(dpnt+1) = 128; // *(dpnt+1) is chroma, set to 128 to maintain black & white debug image.
#else
# error Unknown default pixel format defined in config.h
#endif
pnt1 = &(pnt2[-lxsize]);
if( *pnt1 > 0 ) {
*pnt2 = *pnt1;
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
work2[((*pnt2)-1)*7+6] = j;
}
else if( *(pnt1+1) > 0 ) {
if( *(pnt1-1) > 0 ) {
m = work[*(pnt1+1)-1];
n = work[*(pnt1-1)-1];
if( m > n ) {
*pnt2 = n;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == m ) *wk = n;
wk++;
}
}
else if( m < n ) {
*pnt2 = m;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == n ) *wk = m;
wk++;
}
}
else *pnt2 = m;
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
work2[((*pnt2)-1)*7+6] = j;
}
else if( *(pnt2-1) > 0 ) {
m = work[*(pnt1+1)-1];
n = work[*(pnt2-1)-1];
if( m > n ) {
*pnt2 = n;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == m ) *wk = n;
wk++;
}
}
else if( m < n ) {
*pnt2 = m;
wk = &(work[0]);
for(k = 0; k < wk_max; k++) {
if( *wk == n ) *wk = m;
wk++;
}
}
else *pnt2 = m;
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
}
else {
*pnt2 = *(pnt1+1);
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
if( work2[((*pnt2)-1)*7+3] > i ) work2[((*pnt2)-1)*7+3] = i;
work2[((*pnt2)-1)*7+6] = j;
}
}
else if( *(pnt1-1) > 0 ) {
*pnt2 = *(pnt1-1);
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
work2[((*pnt2)-1)*7+6] = j;
}
else if( *(pnt2-1) > 0) {
*pnt2 = *(pnt2-1);
work2[((*pnt2)-1)*7+0] ++;
work2[((*pnt2)-1)*7+1] += i;
work2[((*pnt2)-1)*7+2] += j;
if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
}
else {
wk_max++;
if( wk_max > WORK_SIZE ) {
return(0);
}
work[wk_max-1] = *pnt2 = wk_max;
work2[(wk_max-1)*7+0] = 1;
work2[(wk_max-1)*7+1] = i;
work2[(wk_max-1)*7+2] = j;
work2[(wk_max-1)*7+3] = i;
work2[(wk_max-1)*7+4] = i;
work2[(wk_max-1)*7+5] = j;
work2[(wk_max-1)*7+6] = j;
}
}
else {
*pnt2 = 0;
#if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)
*(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR)
*(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA)
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
*(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)
*(dpnt) = 0; }
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy)
*(dpnt+0) = 128; *(dpnt+1) = 16; } // *(dpnt+0) is chroma, set to 128 to maintain black & white debug image.
#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)
*(dpnt+0) = 16; *(dpnt+1) = 128; } // *(dpnt+1) is chroma, set to 128 to maintain black & white debug image.
#else
# error Unknown default pixel format defined in config.h
#endif
}
if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) pnt += arImXsize*AR_PIX_SIZE_DEFAULT;
}

j = 1;
wk = &(work[0]);
for(i = 1; i <= wk_max; i++, wk++) {
*wk = (*wk==i)? j++: work[(*wk)-1];
}
*label_num = *wlabel_num = j - 1;
if( *label_num == 0 ) {
return( l_image );
}

put_zero( (ARUint8 *)warea, *label_num * sizeof(int) );
put_zero( (ARUint8 *)wpos, *label_num * 2 * sizeof(double) );
for(i = 0; i < *label_num; i++) {
wclip[i*4+0] = lxsize;
wclip[i*4+1] = 0;
wclip[i*4+2] = lysize;
wclip[i*4+3] = 0;
}
for(i = 0; i < wk_max; i++) {
j = work[i] - 1;
warea[j] += work2[i*7+0];
wpos[j*2+0] += work2[i*7+1];
wpos[j*2+1] += work2[i*7+2];
if( wclip[j*4+0] > work2[i*7+3] ) wclip[j*4+0] = work2[i*7+3];
if( wclip[j*4+1] < work2[i*7+4] ) wclip[j*4+1] = work2[i*7+4];
if( wclip[j*4+2] > work2[i*7+5] ) wclip[j*4+2] = work2[i*7+5];
if( wclip[j*4+3] < work2[i*7+6] ) wclip[j*4+3] = work2[i*7+6];
}

for( i = 0; i < *label_num; i++ ) {
wpos[i*2+0] /= warea[i];
wpos[i*2+1] /= warea[i];
}

*label_ref = work;
*area = warea;
*pos = wpos;
*clip = wclip;
return( l_image );
}

void arLabelingCleanup(void)
{
if (arImageL) {
free (arImageL);
arImageL = NULL;
arImage = NULL;
}
if (arImageR) {
free (arImageR);
arImageR = NULL;
}
}

Subversion Repositories AndroidProjects

(root)/ARToolKit/lib/SRC/AR/arLabeling.c @ 278 - Rev 204