--- /dev/null
+/* Redistribution and use in source and binary forms, with or
+ * without modification, are permitted provided that the following
+ * conditions are met:
+ * Redistributions of source code must retain the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer.
+ * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials
+ * provided with the distribution.
+ * The name of Contributor may not be used to endorse or
+ * promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
+ * TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ * Copyright© 2009, Liu Liu All rights reserved.
+ *
+ * OpenCV functions for MSER extraction
+ *
+ * 1. there are two different implementation of MSER, one for grey image, one for color image
+ * 2. the grey image algorithm is taken from: Linear Time Maximally Stable Extremal Regions;
+ * the paper claims to be faster than union-find method;
+ * it actually get 1.5~2m/s on my centrino L7200 1.2GHz laptop.
+ * 3. the color image algorithm is taken from: Maximally Stable Colour Regions for Recognition and Match;
+ * it should be much slower than grey image method ( 3~4 times );
+ * the chi_table.h file is taken directly from paper's source code which is distributed under GPL.
+ * 4. though the name is *contours*, the result actually is a list of point set.
+ */
+
+#include "_cv.h"
+
+#define TABLE_SIZE 400
+
+static double chitab3[]={0, 0.0150057, 0.0239478, 0.0315227,
+ 0.0383427, 0.0446605, 0.0506115, 0.0562786,
+ 0.0617174, 0.0669672, 0.0720573, 0.0770099,
+ 0.081843, 0.0865705, 0.0912043, 0.0957541,
+ 0.100228, 0.104633, 0.108976, 0.113261,
+ 0.117493, 0.121676, 0.125814, 0.12991,
+ 0.133967, 0.137987, 0.141974, 0.145929,
+ 0.149853, 0.15375, 0.15762, 0.161466,
+ 0.165287, 0.169087, 0.172866, 0.176625,
+ 0.180365, 0.184088, 0.187794, 0.191483,
+ 0.195158, 0.198819, 0.202466, 0.2061,
+ 0.209722, 0.213332, 0.216932, 0.220521,
+ 0.2241, 0.22767, 0.231231, 0.234783,
+ 0.238328, 0.241865, 0.245395, 0.248918,
+ 0.252435, 0.255947, 0.259452, 0.262952,
+ 0.266448, 0.269939, 0.273425, 0.276908,
+ 0.280386, 0.283862, 0.287334, 0.290803,
+ 0.29427, 0.297734, 0.301197, 0.304657,
+ 0.308115, 0.311573, 0.315028, 0.318483,
+ 0.321937, 0.32539, 0.328843, 0.332296,
+ 0.335749, 0.339201, 0.342654, 0.346108,
+ 0.349562, 0.353017, 0.356473, 0.35993,
+ 0.363389, 0.366849, 0.37031, 0.373774,
+ 0.377239, 0.380706, 0.384176, 0.387648,
+ 0.391123, 0.3946, 0.39808, 0.401563,
+ 0.405049, 0.408539, 0.412032, 0.415528,
+ 0.419028, 0.422531, 0.426039, 0.429551,
+ 0.433066, 0.436586, 0.440111, 0.44364,
+ 0.447173, 0.450712, 0.454255, 0.457803,
+ 0.461356, 0.464915, 0.468479, 0.472049,
+ 0.475624, 0.479205, 0.482792, 0.486384,
+ 0.489983, 0.493588, 0.4972, 0.500818,
+ 0.504442, 0.508073, 0.511711, 0.515356,
+ 0.519008, 0.522667, 0.526334, 0.530008,
+ 0.533689, 0.537378, 0.541075, 0.54478,
+ 0.548492, 0.552213, 0.555942, 0.55968,
+ 0.563425, 0.56718, 0.570943, 0.574715,
+ 0.578497, 0.582287, 0.586086, 0.589895,
+ 0.593713, 0.597541, 0.601379, 0.605227,
+ 0.609084, 0.612952, 0.61683, 0.620718,
+ 0.624617, 0.628526, 0.632447, 0.636378,
+ 0.64032, 0.644274, 0.648239, 0.652215,
+ 0.656203, 0.660203, 0.664215, 0.668238,
+ 0.672274, 0.676323, 0.680384, 0.684457,
+ 0.688543, 0.692643, 0.696755, 0.700881,
+ 0.70502, 0.709172, 0.713339, 0.717519,
+ 0.721714, 0.725922, 0.730145, 0.734383,
+ 0.738636, 0.742903, 0.747185, 0.751483,
+ 0.755796, 0.760125, 0.76447, 0.768831,
+ 0.773208, 0.777601, 0.782011, 0.786438,
+ 0.790882, 0.795343, 0.799821, 0.804318,
+ 0.808831, 0.813363, 0.817913, 0.822482,
+ 0.827069, 0.831676, 0.836301, 0.840946,
+ 0.84561, 0.850295, 0.854999, 0.859724,
+ 0.864469, 0.869235, 0.874022, 0.878831,
+ 0.883661, 0.888513, 0.893387, 0.898284,
+ 0.903204, 0.908146, 0.913112, 0.918101,
+ 0.923114, 0.928152, 0.933214, 0.938301,
+ 0.943413, 0.94855, 0.953713, 0.958903,
+ 0.964119, 0.969361, 0.974631, 0.979929,
+ 0.985254, 0.990608, 0.99599, 1.0014,
+ 1.00684, 1.01231, 1.01781, 1.02335,
+ 1.02891, 1.0345, 1.04013, 1.04579,
+ 1.05148, 1.05721, 1.06296, 1.06876,
+ 1.07459, 1.08045, 1.08635, 1.09228,
+ 1.09826, 1.10427, 1.11032, 1.1164,
+ 1.12253, 1.1287, 1.1349, 1.14115,
+ 1.14744, 1.15377, 1.16015, 1.16656,
+ 1.17303, 1.17954, 1.18609, 1.19269,
+ 1.19934, 1.20603, 1.21278, 1.21958,
+ 1.22642, 1.23332, 1.24027, 1.24727,
+ 1.25433, 1.26144, 1.26861, 1.27584,
+ 1.28312, 1.29047, 1.29787, 1.30534,
+ 1.31287, 1.32046, 1.32812, 1.33585,
+ 1.34364, 1.3515, 1.35943, 1.36744,
+ 1.37551, 1.38367, 1.39189, 1.4002,
+ 1.40859, 1.41705, 1.42561, 1.43424,
+ 1.44296, 1.45177, 1.46068, 1.46967,
+ 1.47876, 1.48795, 1.49723, 1.50662,
+ 1.51611, 1.52571, 1.53541, 1.54523,
+ 1.55517, 1.56522, 1.57539, 1.58568,
+ 1.59611, 1.60666, 1.61735, 1.62817,
+ 1.63914, 1.65025, 1.66152, 1.67293,
+ 1.68451, 1.69625, 1.70815, 1.72023,
+ 1.73249, 1.74494, 1.75757, 1.77041,
+ 1.78344, 1.79669, 1.81016, 1.82385,
+ 1.83777, 1.85194, 1.86635, 1.88103,
+ 1.89598, 1.91121, 1.92674, 1.94257,
+ 1.95871, 1.97519, 1.99201, 2.0092,
+ 2.02676, 2.04471, 2.06309, 2.08189,
+ 2.10115, 2.12089, 2.14114, 2.16192,
+ 2.18326, 2.2052, 2.22777, 2.25101,
+ 2.27496, 2.29966, 2.32518, 2.35156,
+ 2.37886, 2.40717, 2.43655, 2.46709,
+ 2.49889, 2.53206, 2.56673, 2.60305,
+ 2.64117, 2.6813, 2.72367, 2.76854,
+ 2.81623, 2.86714, 2.92173, 2.98059,
+ 3.04446, 3.1143, 3.19135, 3.27731,
+ 3.37455, 3.48653, 3.61862, 3.77982,
+ 3.98692, 4.2776, 4.77167, 133.333 };
+
+typedef struct CvLinkedPoint
+{
+ struct CvLinkedPoint* prev;
+ struct CvLinkedPoint* next;
+ CvPoint pt;
+}
+CvLinkedPoint;
+
+// the history of region grown
+typedef struct CvMSERGrowHistory
+{
+ struct CvMSERGrowHistory* shortcut;
+ struct CvMSERGrowHistory* child;
+ int stable; // when it ever stabled before, record the size
+ int val;
+ int size;
+}
+CvMSERGrowHistory;
+
+typedef struct CvMSERConnectedComp
+{
+ CvLinkedPoint* head;
+ CvLinkedPoint* tail;
+ CvMSERGrowHistory* history;
+ unsigned long grey_level;
+ int size;
+ int dvar; // the derivative of last var
+ float var; // the current variation (most time is the variation of one-step back)
+}
+CvMSERConnectedComp;
+
+// Linear Time MSER claims by using bsf can get performance gain, here is the implementation
+// however it seems that will not do any good in real world test
+inline void _bitset(unsigned long * a, unsigned long b)
+{
+ *a |= 1<<b;
+}
+inline void _bitreset(unsigned long * a, unsigned long b)
+{
+ *a &= ~(1<<b);
+}
+
+CvMSERParams cvMSERParams( int delta, int minArea, int maxArea, float maxVariation, float minDiversity, int maxEvolution, double areaThreshold, double minMargin, int edgeBlurSize )
+{
+ CvMSERParams params;
+ params.delta = delta;
+ params.minArea = minArea;
+ params.maxArea = maxArea;
+ params.maxVariation = maxVariation;
+ params.minDiversity = minDiversity;
+ params.maxEvolution = maxEvolution;
+ params.areaThreshold = areaThreshold;
+ params.minMargin = minMargin;
+ params.edgeBlurSize = edgeBlurSize;
+ return params;
+}
+
+// clear the connected component in stack
+CV_INLINE static void
+icvInitMSERComp( CvMSERConnectedComp* comp )
+{
+ comp->size = 0;
+ comp->var = 0;
+ comp->dvar = 1;
+ comp->history = NULL;
+}
+
+// add history of size to a connected component
+CV_INLINE static void
+icvMSERNewHistory( CvMSERConnectedComp* comp,
+ CvMSERGrowHistory* history )
+{
+ history->child = history;
+ if ( NULL == comp->history )
+ {
+ history->shortcut = history;
+ history->stable = 0;
+ } else {
+ comp->history->child = history;
+ history->shortcut = comp->history->shortcut;
+ history->stable = comp->history->stable;
+ }
+ history->val = comp->grey_level;
+ history->size = comp->size;
+ comp->history = history;
+}
+
+// merging two connected component
+CV_INLINE static void
+icvMSERMergeComp( CvMSERConnectedComp* comp1,
+ CvMSERConnectedComp* comp2,
+ CvMSERConnectedComp* comp,
+ CvMSERGrowHistory* history )
+{
+ CvLinkedPoint* head;
+ CvLinkedPoint* tail;
+ comp->grey_level = comp2->grey_level;
+ history->child = history;
+ // select the winner by size
+ if ( comp1->size >= comp2->size )
+ {
+ if ( NULL == comp1->history )
+ {
+ history->shortcut = history;
+ history->stable = 0;
+ } else {
+ comp1->history->child = history;
+ history->shortcut = comp1->history->shortcut;
+ history->stable = comp1->history->stable;
+ }
+ if ( NULL != comp2->history && comp2->history->stable > history->stable )
+ history->stable = comp2->history->stable;
+ history->val = comp1->grey_level;
+ history->size = comp1->size;
+ // put comp1 to history
+ comp->var = comp1->var;
+ comp->dvar = comp1->dvar;
+ if ( comp1->size > 0 && comp2->size > 0 )
+ {
+ comp1->tail->next = comp2->head;
+ comp2->head->prev = comp1->tail;
+ }
+ head = ( comp1->size > 0 ) ? comp1->head : comp2->head;
+ tail = ( comp2->size > 0 ) ? comp2->tail : comp1->tail;
+ // always made the newly added in the last of the pixel list (comp1 ... comp2)
+ } else {
+ if ( NULL == comp2->history )
+ {
+ history->shortcut = history;
+ history->stable = 0;
+ } else {
+ comp2->history->child = history;
+ history->shortcut = comp2->history->shortcut;
+ history->stable = comp2->history->stable;
+ }
+ if ( NULL != comp1->history && comp1->history->stable > history->stable )
+ history->stable = comp1->history->stable;
+ history->val = comp2->grey_level;
+ history->size = comp2->size;
+ // put comp2 to history
+ comp->var = comp2->var;
+ comp->dvar = comp2->dvar;
+ if ( comp1->size > 0 && comp2->size > 0 )
+ {
+ comp2->tail->next = comp1->head;
+ comp1->head->prev = comp2->tail;
+ }
+ head = ( comp2->size > 0 ) ? comp2->head : comp1->head;
+ tail = ( comp1->size > 0 ) ? comp1->tail : comp2->tail;
+ // always made the newly added in the last of the pixel list (comp2 ... comp1)
+ }
+ comp->head = head;
+ comp->tail = tail;
+ comp->history = history;
+ comp->size = comp1->size + comp2->size;
+}
+
+CV_INLINE static float
+icvMSERVariationCalc( CvMSERConnectedComp* comp,
+ int delta )
+{
+ CvMSERGrowHistory* history = comp->history;
+ int val = comp->grey_level;
+ if ( NULL != history )
+ {
+ CvMSERGrowHistory* shortcut = history->shortcut;
+ while ( shortcut != shortcut->shortcut && shortcut->val + delta > val )
+ shortcut = shortcut->shortcut;
+ CvMSERGrowHistory* child = shortcut->child;
+ while ( child != child->child && child->val + delta <= val )
+ {
+ shortcut = child;
+ child = child->child;
+ }
+ // get the position of history where the shortcut->val <= delta+val and shortcut->child->val >= delta+val
+ history->shortcut = shortcut;
+ return (float)(comp->size-shortcut->size)/(float)shortcut->size;
+ // here is a small modification of MSER where cal ||R_{i}-R_{i-delta}||/||R_{i-delta}||
+ // in standard MSER, cal ||R_{i+delta}-R_{i-delta}||/||R_{i}||
+ // my calculation is simpler and much easier to implement
+ }
+ return 1.;
+}
+
+CV_INLINE static bool
+icvMSERStableCheck( CvMSERConnectedComp* comp,
+ CvMSERParams params )
+{
+ // tricky part: it actually check the stablity of one-step back
+ if ( comp->history == NULL || comp->history->size <= params.minArea || comp->history->size >= params.maxArea )
+ return 0;
+ float div = (float)(comp->history->size-comp->history->stable)/(float)comp->history->size;
+ float var = icvMSERVariationCalc( comp, params.delta );
+ int dvar = ( comp->var < var || (unsigned long)(comp->history->val + 1) < comp->grey_level );
+ int stable = ( dvar && !comp->dvar && comp->var < params.maxVariation && div > params.minDiversity );
+ comp->var = var;
+ comp->dvar = dvar;
+ if ( stable )
+ comp->history->stable = comp->history->size;
+ return stable != 0;
+}
+
+// add a pixel to the pixel list
+CV_INLINE static void
+icvAccumulateMSERComp( CvMSERConnectedComp* comp,
+ CvLinkedPoint* point )
+{
+ if ( comp->size > 0 )
+ {
+ point->prev = comp->tail;
+ comp->tail->next = point;
+ point->next = NULL;
+ } else {
+ point->prev = NULL;
+ point->next = NULL;
+ comp->head = point;
+ }
+ comp->tail = point;
+ comp->size++;
+}
+
+// convert the point set to CvSeq
+CV_INLINE static CvContour*
+icvMSERToContour( CvMSERConnectedComp* comp,
+ CvMemStorage* storage )
+{
+ CvSeq* _contour = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvContour), sizeof(CvPoint), storage );
+ CvContour* contour = (CvContour*)_contour;
+ cvSeqPushMulti( _contour, 0, comp->history->size );
+ CvLinkedPoint* lpt = comp->head;
+ for ( int i = 0; i < comp->history->size; i++ )
+ {
+ CvPoint* pt = CV_GET_SEQ_ELEM( CvPoint, _contour, i );
+ pt->x = lpt->pt.x;
+ pt->y = lpt->pt.y;
+ lpt = lpt->next;
+ }
+ cvBoundingRect( contour );
+ return contour;
+}
+
+// to preprocess src image to following format
+// 32-bit image
+// > 0 is available, < 0 is visited
+// 17~19 bits is the direction
+// 8~11 bits is the bucket it falls to (for BitScanForward)
+// 0~8 bits is the color
+static int*
+icvPreprocessMSER_8UC1( CvMat* img,
+ int*** heap_cur,
+ CvMat* src,
+ CvMat* mask )
+{
+ int srccpt = src->step-src->cols;
+ int cpt_1 = img->cols-src->cols-1;
+ int* imgptr = img->data.i;
+ int* startptr;
+
+ int level_size[256];
+ for ( int i = 0; i < 256; i++ )
+ level_size[i] = 0;
+
+ for ( int i = 0; i < src->cols+2; i++ )
+ {
+ *imgptr = -1;
+ imgptr++;
+ }
+ imgptr += cpt_1-1;
+ uchar* srcptr = src->data.ptr;
+ if ( mask )
+ {
+ startptr = 0;
+ uchar* maskptr = mask->data.ptr;
+ for ( int i = 0; i < src->rows; i++ )
+ {
+ *imgptr = -1;
+ imgptr++;
+ for ( int j = 0; j < src->cols; j++ )
+ {
+ if ( *maskptr )
+ {
+ if ( !startptr )
+ startptr = imgptr;
+ *srcptr = 0xff-*srcptr;
+ level_size[*srcptr]++;
+ *imgptr = ((*srcptr>>5)<<8)|(*srcptr);
+ } else {
+ *imgptr = -1;
+ }
+ imgptr++;
+ srcptr++;
+ maskptr++;
+ }
+ *imgptr = -1;
+ imgptr += cpt_1;
+ srcptr += srccpt;
+ maskptr += srccpt;
+ }
+ } else {
+ startptr = imgptr+img->cols+1;
+ for ( int i = 0; i < src->rows; i++ )
+ {
+ *imgptr = -1;
+ imgptr++;
+ for ( int j = 0; j < src->cols; j++ )
+ {
+ *srcptr = 0xff-*srcptr;
+ level_size[*srcptr]++;
+ *imgptr = ((*srcptr>>5)<<8)|(*srcptr);
+ imgptr++;
+ srcptr++;
+ }
+ *imgptr = -1;
+ imgptr += cpt_1;
+ srcptr += srccpt;
+ }
+ }
+ for ( int i = 0; i < src->cols+2; i++ )
+ {
+ *imgptr = -1;
+ imgptr++;
+ }
+
+ heap_cur[0][0] = 0;
+ for ( int i = 1; i < 256; i++ )
+ {
+ heap_cur[i] = heap_cur[i-1]+level_size[i-1]+1;
+ heap_cur[i][0] = 0;
+ }
+ return startptr;
+}
+
+static void
+icvExtractMSER_8UC1_Pass( int* ioptr,
+ int* imgptr,
+ int*** heap_cur,
+ CvLinkedPoint* ptsptr,
+ CvMSERGrowHistory* histptr,
+ CvMSERConnectedComp* comptr,
+ int step,
+ int stepmask,
+ int stepgap,
+ CvMSERParams params,
+ int color,
+ CvSeq* contours,
+ CvMemStorage* storage )
+{
+ comptr->grey_level = 256;
+ comptr++;
+ comptr->grey_level = (*imgptr)&0xff;
+ icvInitMSERComp( comptr );
+ *imgptr |= 0x80000000;
+ heap_cur += (*imgptr)&0xff;
+ int dir[] = { 1, step, -1, -step };
+#ifdef __INTRIN_ENABLED__
+ unsigned long heapbit[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
+ unsigned long* bit_cur = heapbit+(((*imgptr)&0x700)>>8);
+#endif
+ for ( ; ; )
+ {
+ // take tour of all the 4 directions
+ while ( ((*imgptr)&0x70000) < 0x40000 )
+ {
+ // get the neighbor
+ int* imgptr_nbr = imgptr+dir[((*imgptr)&0x70000)>>16];
+ if ( *imgptr_nbr >= 0 ) // if the neighbor is not visited yet
+ {
+ *imgptr_nbr |= 0x80000000; // mark it as visited
+ if ( ((*imgptr_nbr)&0xff) < ((*imgptr)&0xff) )
+ {
+ // when the value of neighbor smaller than current
+ // push current to boundary heap and make the neighbor to be the current one
+ // create an empty comp
+ (*heap_cur)++;
+ **heap_cur = imgptr;
+ *imgptr += 0x10000;
+ heap_cur += ((*imgptr_nbr)&0xff)-((*imgptr)&0xff);
+#ifdef __INTRIN_ENABLED__
+ _bitset( bit_cur, (*imgptr)&0x1f );
+ bit_cur += (((*imgptr_nbr)&0x700)-((*imgptr)&0x700))>>8;
+#endif
+ imgptr = imgptr_nbr;
+ comptr++;
+ icvInitMSERComp( comptr );
+ comptr->grey_level = (*imgptr)&0xff;
+ continue;
+ } else {
+ // otherwise, push the neighbor to boundary heap
+ heap_cur[((*imgptr_nbr)&0xff)-((*imgptr)&0xff)]++;
+ *heap_cur[((*imgptr_nbr)&0xff)-((*imgptr)&0xff)] = imgptr_nbr;
+#ifdef __INTRIN_ENABLED__
+ _bitset( bit_cur+((((*imgptr_nbr)&0x700)-((*imgptr)&0x700))>>8), (*imgptr_nbr)&0x1f );
+#endif
+ }
+ }
+ *imgptr += 0x10000;
+ }
+ int i = (int)(imgptr-ioptr);
+ ptsptr->pt = cvPoint( i&stepmask, i>>stepgap );
+ // get the current location
+ icvAccumulateMSERComp( comptr, ptsptr );
+ ptsptr++;
+ // get the next pixel from boundary heap
+ if ( **heap_cur )
+ {
+ imgptr = **heap_cur;
+ (*heap_cur)--;
+#ifdef __INTRIN_ENABLED__
+ if ( !**heap_cur )
+ _bitreset( bit_cur, (*imgptr)&0x1f );
+#endif
+ } else {
+#ifdef __INTRIN_ENABLED__
+ bool found_pixel = 0;
+ unsigned long pixel_val;
+ for ( int i = ((*imgptr)&0x700)>>8; i < 8; i++ )
+ {
+ if ( _BitScanForward( &pixel_val, *bit_cur ) )
+ {
+ found_pixel = 1;
+ pixel_val += i<<5;
+ heap_cur += pixel_val-((*imgptr)&0xff);
+ break;
+ }
+ bit_cur++;
+ }
+ if ( found_pixel )
+#else
+ heap_cur++;
+ unsigned long pixel_val = 0;
+ for ( unsigned long i = ((*imgptr)&0xff)+1; i < 256; i++ )
+ {
+ if ( **heap_cur )
+ {
+ pixel_val = i;
+ break;
+ }
+ heap_cur++;
+ }
+ if ( pixel_val )
+#endif
+ {
+ imgptr = **heap_cur;
+ (*heap_cur)--;
+#ifdef __INTRIN_ENABLED__
+ if ( !**heap_cur )
+ _bitreset( bit_cur, pixel_val&0x1f );
+#endif
+ if ( pixel_val < comptr[-1].grey_level )
+ {
+ // check the stablity and push a new history, increase the grey level
+ if ( icvMSERStableCheck( comptr, params ) )
+ {
+ CvContour* contour = icvMSERToContour( comptr, storage );
+ contour->color = color;
+ cvSeqPush( contours, &contour );
+ }
+ icvMSERNewHistory( comptr, histptr );
+ comptr[0].grey_level = pixel_val;
+ histptr++;
+ } else {
+ // keep merging top two comp in stack until the grey level >= pixel_val
+ for ( ; ; )
+ {
+ comptr--;
+ icvMSERMergeComp( comptr+1, comptr, comptr, histptr );
+ histptr++;
+ if ( pixel_val <= comptr[0].grey_level )
+ break;
+ if ( pixel_val < comptr[-1].grey_level )
+ {
+ // check the stablity here otherwise it wouldn't be an ER
+ if ( icvMSERStableCheck( comptr, params ) )
+ {
+ CvContour* contour = icvMSERToContour( comptr, storage );
+ contour->color = color;
+ cvSeqPush( contours, &contour );
+ }
+ icvMSERNewHistory( comptr, histptr );
+ comptr[0].grey_level = pixel_val;
+ histptr++;
+ break;
+ }
+ }
+ }
+ } else
+ break;
+ }
+ }
+}
+
+static void
+icvExtractMSER_8UC1( CvMat* src,
+ CvMat* mask,
+ CvSeq* contours,
+ CvMemStorage* storage,
+ CvMSERParams params )
+{
+ int step = 8;
+ int stepgap = 3;
+ while ( step < src->step+2 )
+ {
+ step <<= 1;
+ stepgap++;
+ }
+ int stepmask = step-1;
+
+ // to speedup the process, make the width to be 2^N
+ CvMat* img = cvCreateMat( src->rows+2, step, CV_32SC1 );
+ int* ioptr = img->data.i+step+1;
+ int* imgptr;
+
+ // pre-allocate boundary heap
+ int** heap = (int**)cvAlloc( (src->rows*src->cols+256)*sizeof(heap[0]) );
+ int** heap_start[256];
+ heap_start[0] = heap;
+
+ // pre-allocate linked point and grow history
+ CvLinkedPoint* pts = (CvLinkedPoint*)cvAlloc( src->rows*src->cols*sizeof(pts[0]) );
+ CvMSERGrowHistory* history = (CvMSERGrowHistory*)cvAlloc( src->rows*src->cols*sizeof(history[0]) );
+ CvMSERConnectedComp comp[257];
+
+ // darker to brighter (MSER-)
+ imgptr = icvPreprocessMSER_8UC1( img, heap_start, src, mask );
+ icvExtractMSER_8UC1_Pass( ioptr, imgptr, heap_start, pts, history, comp, step, stepmask, stepgap, params, -1, contours, storage );
+ // brighter to darker (MSER+)
+ imgptr = icvPreprocessMSER_8UC1( img, heap_start, src, mask );
+ icvExtractMSER_8UC1_Pass( ioptr, imgptr, heap_start, pts, history, comp, step, stepmask, stepgap, params, 1, contours, storage );
+
+ // clean up
+ cvFree( &history );
+ cvFree( &heap );
+ cvFree( &pts );
+ cvReleaseMat( &img );
+}
+
+struct CvMSCRNode;
+
+typedef struct CvTempMSCR
+{
+ CvMSCRNode* head;
+ CvMSCRNode* tail;
+ double m; // the margin used to prune area later
+ int size;
+} CvTempMSCR;
+
+typedef struct CvMSCRNode
+{
+ CvMSCRNode* shortcut;
+ // to make the finding of root less painful
+ CvMSCRNode* prev;
+ CvMSCRNode* next;
+ // a point double-linked list
+ CvTempMSCR* tmsr;
+ // the temporary msr (set to NULL at every re-initialise)
+ CvTempMSCR* gmsr;
+ // the global msr (once set, never to NULL)
+ int index;
+ // the index of the node, at this point, it should be x at the first 16-bits, and y at the last 16-bits.
+ int rank;
+ int reinit;
+ int size, sizei;
+ double dt, di;
+ double s;
+} CvMSCRNode;
+
+typedef struct CvMSCREdge
+{
+ double chi;
+ CvMSCRNode* left;
+ CvMSCRNode* right;
+} CvMSCREdge;
+
+CV_INLINE static double
+icvChisquaredDistance( uchar* x, uchar* y )
+{
+ return (double)((x[0]-y[0])*(x[0]-y[0]))/(double)(x[0]+y[0]+1e-10)+
+ (double)((x[1]-y[1])*(x[1]-y[1]))/(double)(x[1]+y[1]+1e-10)+
+ (double)((x[2]-y[2])*(x[2]-y[2]))/(double)(x[2]+y[2]+1e-10);
+}
+
+CV_INLINE static void
+icvInitMSCRNode( CvMSCRNode* node )
+{
+ node->gmsr = node->tmsr = NULL;
+ node->reinit = 0xffff;
+ node->rank = 0;
+ node->sizei = node->size = 1;
+ node->prev = node->next = node->shortcut = node;
+}
+
+// the preprocess to get the edge list with proper gaussian blur
+static int
+icvPreprocessMSER_8UC3( CvMSCRNode* node,
+ CvMSCREdge* edge,
+ double* total,
+ CvMat* src,
+ CvMat* mask,
+ CvMat* dx,
+ CvMat* dy,
+ int Ne,
+ int edgeBlurSize )
+{
+ int srccpt = src->step-src->cols*3;
+ uchar* srcptr = src->data.ptr;
+ uchar* lastptr = src->data.ptr+3;
+ double* dxptr = dx->data.db;
+ for ( int i = 0; i < src->rows; i++ )
+ {
+ for ( int j = 0; j < src->cols-1; j++ )
+ {
+ *dxptr = icvChisquaredDistance( srcptr, lastptr );
+ dxptr++;
+ srcptr += 3;
+ lastptr += 3;
+ }
+ srcptr += srccpt+3;
+ lastptr += srccpt+3;
+ }
+ srcptr = src->data.ptr;
+ lastptr = src->data.ptr+src->step;
+ double* dyptr = dy->data.db;
+ for ( int i = 0; i < src->rows-1; i++ )
+ {
+ for ( int j = 0; j < src->cols; j++ )
+ {
+ *dyptr = icvChisquaredDistance( srcptr, lastptr );
+ dyptr++;
+ srcptr += 3;
+ lastptr += 3;
+ }
+ srcptr += srccpt;
+ lastptr += srccpt;
+ }
+ // get dx and dy and blur it
+ if ( edgeBlurSize >= 1 )
+ {
+ cvSmooth( dx, dx, CV_GAUSSIAN, edgeBlurSize, edgeBlurSize );
+ cvSmooth( dy, dy, CV_GAUSSIAN, edgeBlurSize, edgeBlurSize );
+ }
+ dxptr = dx->data.db;
+ dyptr = dy->data.db;
+ // assian dx, dy to proper edge list and initialize mscr node
+ // the nasty code here intended to avoid extra loops
+ if ( mask )
+ {
+ Ne = 0;
+ int maskcpt = mask->step-mask->cols+1;
+ uchar* maskptr = mask->data.ptr;
+ CvMSCRNode* nodeptr = node;
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = 0;
+ *total += edge->chi = *dxptr;
+ if ( maskptr[0] && maskptr[1] )
+ {
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ Ne++;
+ }
+ dxptr++;
+ nodeptr++;
+ maskptr++;
+ for ( int i = 1; i < src->cols-1; i++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = i;
+ if ( maskptr[0] && maskptr[1] )
+ {
+ *total += edge->chi = *dxptr;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ Ne++;
+ }
+ dxptr++;
+ nodeptr++;
+ maskptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = src->cols-1;
+ nodeptr++;
+ maskptr += maskcpt;
+ for ( int i = 1; i < src->rows-1; i++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = i<<16;
+ if ( maskptr[0] )
+ {
+ if ( maskptr[-mask->step] )
+ {
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ Ne++;
+ }
+ if ( maskptr[1] )
+ {
+ *total += edge->chi = *dxptr;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ Ne++;
+ }
+ }
+ dyptr++;
+ dxptr++;
+ nodeptr++;
+ maskptr++;
+ for ( int j = 1; j < src->cols-1; j++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = (i<<16)|j;
+ if ( maskptr[0] )
+ {
+ if ( maskptr[-mask->step] )
+ {
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ Ne++;
+ }
+ if ( maskptr[1] )
+ {
+ *total += edge->chi = *dxptr;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ Ne++;
+ }
+ }
+ dyptr++;
+ dxptr++;
+ nodeptr++;
+ maskptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = (i<<16)|(src->cols-1);
+ if ( maskptr[0] && maskptr[-mask->step] )
+ {
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ Ne++;
+ }
+ dyptr++;
+ nodeptr++;
+ maskptr += maskcpt;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = (src->rows-1)<<16;
+ if ( maskptr[0] )
+ {
+ if ( maskptr[1] )
+ {
+ *total += edge->chi = *dxptr;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ Ne++;
+ }
+ if ( maskptr[-mask->step] )
+ {
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ Ne++;
+ }
+ }
+ dxptr++;
+ dyptr++;
+ nodeptr++;
+ maskptr++;
+ for ( int i = 1; i < src->cols-1; i++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = ((src->rows-1)<<16)|i;
+ if ( maskptr[0] )
+ {
+ if ( maskptr[1] )
+ {
+ *total += edge->chi = *dxptr;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ Ne++;
+ }
+ if ( maskptr[-mask->step] )
+ {
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ Ne++;
+ }
+ }
+ dxptr++;
+ dyptr++;
+ nodeptr++;
+ maskptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = ((src->rows-1)<<16)|(src->cols-1);
+ if ( maskptr[0] && maskptr[-mask->step] )
+ {
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ Ne++;
+ }
+ } else {
+ CvMSCRNode* nodeptr = node;
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = 0;
+ *total += edge->chi = *dxptr;
+ dxptr++;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ nodeptr++;
+ for ( int i = 1; i < src->cols-1; i++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = i;
+ *total += edge->chi = *dxptr;
+ dxptr++;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ nodeptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = src->cols-1;
+ nodeptr++;
+ for ( int i = 1; i < src->rows-1; i++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = i<<16;
+ *total += edge->chi = *dyptr;
+ dyptr++;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ *total += edge->chi = *dxptr;
+ dxptr++;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ nodeptr++;
+ for ( int j = 1; j < src->cols-1; j++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = (i<<16)|j;
+ *total += edge->chi = *dyptr;
+ dyptr++;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ *total += edge->chi = *dxptr;
+ dxptr++;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ nodeptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = (i<<16)|(src->cols-1);
+ *total += edge->chi = *dyptr;
+ dyptr++;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ nodeptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = (src->rows-1)<<16;
+ *total += edge->chi = *dxptr;
+ dxptr++;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ *total += edge->chi = *dyptr;
+ dyptr++;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ nodeptr++;
+ for ( int i = 1; i < src->cols-1; i++ )
+ {
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = ((src->rows-1)<<16)|i;
+ *total += edge->chi = *dxptr;
+ dxptr++;
+ edge->left = nodeptr;
+ edge->right = nodeptr+1;
+ edge++;
+ *total += edge->chi = *dyptr;
+ dyptr++;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ edge++;
+ nodeptr++;
+ }
+ icvInitMSCRNode( nodeptr );
+ nodeptr->index = ((src->rows-1)<<16)|(src->cols-1);
+ *total += edge->chi = *dyptr;
+ edge->left = nodeptr-src->cols;
+ edge->right = nodeptr;
+ }
+ return Ne;
+}
+
+#define cmp_mscr_edge(edge1, edge2) \
+ ((edge1).chi < (edge2).chi)
+
+static CV_IMPLEMENT_QSORT( icvQuickSortMSCREdge, CvMSCREdge, cmp_mscr_edge )
+
+// to find the root of one region
+CV_INLINE static CvMSCRNode*
+icvFindMSCR( CvMSCRNode* x )
+{
+ CvMSCRNode* prev = x;
+ CvMSCRNode* next;
+ for ( ; ; )
+ {
+ next = x->shortcut;
+ x->shortcut = prev;
+ if ( next == x ) break;
+ prev= x;
+ x = next;
+ }
+ CvMSCRNode* root = x;
+ for ( ; ; )
+ {
+ prev = x->shortcut;
+ x->shortcut = root;
+ if ( prev == x ) break;
+ x = prev;
+ }
+ return root;
+}
+
+// the stable mscr should be:
+// bigger than minArea and smaller than maxArea
+// differ from its ancestor more than minDiversity
+CV_INLINE static bool
+icvMSCRStableCheck( CvMSCRNode* x,
+ CvMSERParams params )
+{
+ if ( x->size <= params.minArea || x->size >= params.maxArea )
+ return 0;
+ if ( x->gmsr == NULL )
+ return 1;
+ double div = (double)(x->size-x->gmsr->size)/(double)x->size;
+ return div > params.minDiversity;
+}
+
+static void
+icvExtractMSER_8UC3( CvMat* src,
+ CvMat* mask,
+ CvSeq* contours,
+ CvMemStorage* storage,
+ CvMSERParams params )
+{
+ CvMSCRNode* map = (CvMSCRNode*)cvAlloc( src->cols*src->rows*sizeof(map[0]) );
+ int Ne = src->cols*src->rows*2-src->cols-src->rows;
+ CvMSCREdge* edge = (CvMSCREdge*)cvAlloc( Ne*sizeof(edge[0]) );
+ CvTempMSCR* mscr = (CvTempMSCR*)cvAlloc( src->cols*src->rows*sizeof(mscr[0]) );
+ double emean = 0;
+ CvMat* dx = cvCreateMat( src->rows, src->cols-1, CV_64FC1 );
+ CvMat* dy = cvCreateMat( src->rows-1, src->cols, CV_64FC1 );
+ Ne = icvPreprocessMSER_8UC3( map, edge, &emean, src, mask, dx, dy, Ne, params.edgeBlurSize );
+ emean = emean / (double)Ne;
+ icvQuickSortMSCREdge( edge, Ne, 0 );
+ CvMSCREdge* edge_ub = edge+Ne;
+ CvMSCREdge* edgeptr = edge;
+ CvTempMSCR* mscrptr = mscr;
+ // the evolution process
+ for ( int i = 0; i < params.maxEvolution; i++ )
+ {
+ double k = (double)i/(double)params.maxEvolution*(TABLE_SIZE-1);
+ int ti = cvFloor(k);
+ double reminder = k-ti;
+ double thres = emean*(chitab3[ti]*(1-reminder)+chitab3[ti+1]*reminder);
+ // to process all the edges in the list that chi < thres
+ while ( edgeptr < edge_ub && edgeptr->chi < thres )
+ {
+ CvMSCRNode* lr = icvFindMSCR( edgeptr->left );
+ CvMSCRNode* rr = icvFindMSCR( edgeptr->right );
+ // get the region root (who is responsible)
+ if ( lr != rr )
+ {
+ // rank idea take from: N-tree Disjoint-Set Forests for Maximally Stable Extremal Regions
+ if ( rr->rank > lr->rank )
+ {
+ CvMSCRNode* tmp;
+ CV_SWAP( lr, rr, tmp );
+ } else if ( lr->rank == rr->rank ) {
+ // at the same rank, we will compare the size
+ if ( lr->size > rr->size )
+ {
+ CvMSCRNode* tmp;
+ CV_SWAP( lr, rr, tmp );
+ }
+ lr->rank++;
+ }
+ rr->shortcut = lr;
+ lr->size += rr->size;
+ // join rr to the end of list lr (lr is a endless double-linked list)
+ lr->prev->next = rr;
+ lr->prev = rr->prev;
+ rr->prev->next = lr;
+ rr->prev = lr;
+ // area threshold force to reinitialize
+ if ( lr->size > (lr->size-rr->size)*params.areaThreshold )
+ {
+ lr->sizei = lr->size;
+ lr->reinit = i;
+ if ( lr->tmsr != NULL )
+ {
+ lr->tmsr->m = lr->dt-lr->di;
+ lr->tmsr = NULL;
+ }
+ lr->di = edgeptr->chi;
+ lr->s = 1e10;
+ }
+ lr->dt = edgeptr->chi;
+ if ( i > lr->reinit )
+ {
+ double s = (double)(lr->size-lr->sizei)/(lr->dt-lr->di);
+ if ( s < lr->s )
+ {
+ // skip the first one and check stablity
+ if ( i > lr->reinit+1 && icvMSCRStableCheck( lr, params ) )
+ {
+ if ( lr->tmsr == NULL )
+ {
+ lr->gmsr = lr->tmsr = mscrptr;
+ mscrptr++;
+ }
+ lr->tmsr->size = lr->size;
+ lr->tmsr->head = lr;
+ lr->tmsr->tail = lr->prev;
+ lr->tmsr->m = 0;
+ }
+ lr->s = s;
+ }
+ }
+ }
+ edgeptr++;
+ }
+ if ( edgeptr >= edge_ub )
+ break;
+ }
+ for ( CvTempMSCR* ptr = mscr; ptr < mscrptr; ptr++ )
+ // to prune area with margin less than minMargin
+ if ( ptr->m > params.minMargin )
+ {
+ CvSeq* _contour = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvContour), sizeof(CvPoint), storage );
+ cvSeqPushMulti( _contour, 0, ptr->size );
+ CvMSCRNode* lpt = ptr->head;
+ for ( int i = 0; i < ptr->size; i++ )
+ {
+ CvPoint* pt = CV_GET_SEQ_ELEM( CvPoint, _contour, i );
+ pt->x = (lpt->index)&0xffff;
+ pt->y = (lpt->index)>>16;
+ lpt = lpt->next;
+ }
+ CvContour* contour = (CvContour*)_contour;
+ cvBoundingRect( contour );
+ contour->color = 0;
+ cvSeqPush( contours, &contour );
+ }
+ cvReleaseMat( &dx );
+ cvReleaseMat( &dy );
+ cvFree( &mscr );
+ cvFree( &edge );
+ cvFree( &map );
+}
+
+void
+cvExtractMSER( CvArr* _img,
+ CvArr* _mask,
+ CvSeq** _contours,
+ CvMemStorage* storage,
+ CvMSERParams params )
+{
+ CvMat srchdr, *src = cvGetMat( _img, &srchdr );
+ CvMat maskhdr, *mask = _mask ? cvGetMat( _mask, &maskhdr ) : 0;
+ CvSeq* contours = 0;
+
+ CV_FUNCNAME( "cvExtractMSER" );
+
+ __BEGIN__;
+
+ CV_ASSERT(src != 0);
+ CV_ASSERT(CV_MAT_TYPE(src->type) == CV_8UC1 || CV_MAT_TYPE(src->type) == CV_8UC3);
+ CV_ASSERT(mask == 0 || (CV_ARE_SIZES_EQ(src, mask) && CV_MAT_TYPE(mask->type) == CV_8UC1));
+ CV_ASSERT(storage != 0);
+
+ contours = *_contours = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSeq*), storage );
+
+ // choose different method for different image type
+ // for grey image, it is: Linear Time Maximally Stable Extremal Regions
+ // for color image, it is: Maximally Stable Colour Regions for Recognition and Matching
+ switch ( CV_MAT_TYPE(src->type) )
+ {
+ case CV_8UC1:
+ icvExtractMSER_8UC1( src, mask, contours, storage, params );
+ break;
+ case CV_8UC3:
+ icvExtractMSER_8UC3( src, mask, contours, storage, params );
+ break;
+ }
+
+ __END__;
+}
+
+
+namespace cv
+{
+
+MSER::MSER()
+{
+ *(CvMSERParams*)this = cvMSERParams();
+}
+
+MSER::MSER( int _delta, int _min_area, int _max_area,
+ float _max_variation, float _min_diversity,
+ int _max_evolution, double _area_threshold,
+ double _min_margin, int _edge_blur_size )
+{
+ *(CvMSERParams*)this = cvMSERParams(_delta, _min_area, _max_area, _max_variation,
+ _min_diversity, _max_evolution, _area_threshold, _min_margin, _edge_blur_size);
+}
+
+void MSER::operator()(Mat& image, vector<vector<Point> >& dstcontours, const Mat& mask) const
+{
+ CvMat _image = image, _mask, *pmask = 0;
+ if( mask.data )
+ pmask = &(_mask = mask);
+ MemStorage storage(cvCreateMemStorage(0));
+ Seq<CvSeq*> contours;
+ cvExtractMSER( &_image, pmask, &contours.seq, storage, *(const CvMSERParams*)this );
+ SeqIterator<CvSeq*> it = contours.begin();
+ size_t i, ncontours = contours.size();
+ dstcontours.resize(ncontours);
+ for( i = 0; i < ncontours; i++, ++it )
+ Seq<Point>(*it).copyTo(dstcontours[i]);
+}
+
+}
projects / opencv / blobdiff