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//##########################################################################
//# #
//# CCLIB #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU Library General Public License as #
//# published by the Free Software Foundation; version 2 or later of the #
//# License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ChamferDistanceTransform.h"
//system
#include <algorithm>
#include <cassert>
#include <cstring>
using namespace CCLib;
//! Forward mask shifts and weights (Chamfer 3-4-5)
const signed char ForwardNeighbours345[14*4] = {
-1,-1,-1, 5,
0,-1,-1, 4,
1,-1,-1, 5,
-1, 0,-1, 4,
0, 0,-1, 3,
1, 0,-1, 4,
-1, 1,-1, 5,
0, 1,-1, 4,
1, 1,-1, 5,
-1,-1, 0, 4,
0,-1, 0, 3,
1,-1, 0, 4,
-1, 0, 0, 3,
0, 0, 0, 0
};
//! Backward mask shifts and weights (Chamfer 3-4-5)
const signed char BackwardNeighbours345[14*4] = {
0, 0, 0, 0,
1, 0, 0, 3,
-1, 1, 0, 4,
0, 1, 0, 3,
1, 1, 0, 4,
-1,-1, 1, 5,
0,-1, 1, 4,
1,-1, 1, 5,
-1, 0, 1, 4,
0, 0, 1, 3,
1, 0, 1, 4,
-1, 1, 1, 5,
0, 1, 1, 4,
1, 1, 1, 5
};
//! Forward mask shifts and weights (Chamfer 1-1-1)
const signed char ForwardNeighbours111[14*4] = {
-1,-1,-1, 1,
0,-1,-1, 1,
1,-1,-1, 1,
-1, 0,-1, 1,
0, 0,-1, 1,
1, 0,-1, 1,
-1, 1,-1, 1,
0, 1,-1, 1,
1, 1,-1, 1,
-1,-1, 0, 1,
0,-1, 0, 1,
1,-1, 0, 1,
-1, 0, 0, 1,
0, 0, 0, 0
};
//! Backward masks shifts and weights (Chamfer 1-1-1)
const signed char BackwardNeighbours111[14*4] = {
0, 0, 0, 0,
1, 0, 0, 1,
-1, 1, 0, 1,
0, 1, 0, 1,
1, 1, 0, 1,
-1,-1, 1, 1,
0,-1, 1, 1,
1,-1, 1, 1,
-1, 0, 1, 1,
0, 0, 1, 1,
1, 0, 1, 1,
-1, 1, 1, 1,
0, 1, 1, 1,
1, 1, 1, 1
};
//ChamferDistanceTransform::GridElement ChamferDistanceTransform::propagateDistance( unsigned iStart,
// unsigned jStart,
// unsigned kStart,
// bool forward,
// const signed char neighbours[14][4],
// NormalizedProgress* normProgress/*=0*/)
//{
// assert(!m_grid.empty());
//
// GridElement* _grid = &(m_grid[pos2index(iStart, jStart, kStart)]);
//
// //accelerating structure
// int neighborShift[14];
// {
// for (unsigned char v=0; v<14; ++v)
// {
// neighborShift[v] = static_cast<int>(neighbours[v][0]) +
// static_cast<int>(neighbours[v][1]) * static_cast<int>(m_rowSize) +
// static_cast<int>(neighbours[v][2]) * static_cast<int>(m_sliceSize);
// }
// }
//
// GridElement maxDist = 0;
//
// int order = forward ? 1 : -1;
//
// for (unsigned k=0; k<m_innerSize.z; ++k)
// {
// for (unsigned j=0; j<m_innerSize.y; ++j)
// {
// for (unsigned i=0; i<m_innerSize.x; ++i)
// {
// GridElement minVal = _grid[neighborShift[0]] + static_cast<GridElement>(neighbours[0][3]);
//
// for (unsigned char v=1; v<14; ++v)
// {
// GridElement neighborVal = _grid[neighborShift[v]] + static_cast<GridElement>(neighbours[v][3]);
// minVal = std::min(minVal, neighborVal);
// }
//
// *_grid = minVal;
//
// //we track the max distance
// if (minVal > maxDist)
// {
// maxDist = minVal;
// }
//
// _grid += order;
// }
// _grid += order*2; //next line
//
// if (normProgress && !normProgress->oneStep())
// {
// break;
// }
// }
//
// _grid += (order*2) * static_cast<int>(m_rowSize); //next slice
// }
//
// return maxDist;
//}
int ChamferDistanceTransform::propagateDistance(CC_CHAMFER_DISTANCE_TYPE type, GenericProgressCallback* progressCb)
{
if (m_grid.empty())
{
assert(false);
return -1;
}
const signed char* fwNeighbours = nullptr;
const signed char* bwNeighbours = nullptr;
switch (type)
{
case CHAMFER_111:
{
fwNeighbours = ForwardNeighbours111;
bwNeighbours = BackwardNeighbours111;
}
break;
case CHAMFER_345:
{
fwNeighbours = ForwardNeighbours345;
bwNeighbours = BackwardNeighbours345;
}
break;
default:
//unhandled type?!
assert(false);
return -1;
}
NormalizedProgress normProgress(progressCb,m_innerSize.y*m_innerSize.z*2);
if (progressCb)
{
if (progressCb->textCanBeEdited())
{
progressCb->setMethodTitle("Chamfer distance");
char buffer[256];
sprintf(buffer, "Box: [%u x %u x %u]", m_innerSize.x, m_innerSize.y, m_innerSize.z);
progressCb->setInfo(buffer);
}
progressCb->update(0);
progressCb->start();
}
//1st pass: forward scan
{
GridElement* _grid = &(m_grid[pos2index(0, 0, 0)]);
//accelerating structure
int neighborShift[14];
{
for (unsigned char v=0; v<14; ++v)
{
const signed char* fwNeighbour = fwNeighbours + 4*v;
neighborShift[v] = static_cast<int>(fwNeighbour[0]) +
static_cast<int>(fwNeighbour[1]) * static_cast<int>(m_rowSize) +
static_cast<int>(fwNeighbour[2]) * static_cast<int>(m_sliceSize);
}
}
for (unsigned k=0; k<m_innerSize.z; ++k)
{
for (unsigned j=0; j<m_innerSize.y; ++j)
{
for (unsigned i=0; i<m_innerSize.x; ++i)
{
GridElement minVal = _grid[neighborShift[0]] + static_cast<GridElement>(fwNeighbours[3]);
for (unsigned char v=1; v<14; ++v)
{
const signed char* fwNeighbour = fwNeighbours + 4*v;
GridElement neighborVal = _grid[neighborShift[v]] + static_cast<GridElement>(fwNeighbour[3]);
minVal = std::min(minVal, neighborVal);
}
*_grid++ = minVal;
}
_grid += 2; //next line
if (progressCb && !normProgress.oneStep())
{
break;
}
}
_grid += 2*m_rowSize; //next slice
}
}
//2nd pass: backward scan
GridElement maxDist = 0;
{
//accelerating structure
int neighborShift[14];
{
for (unsigned char v=0; v<14; ++v)
{
const signed char* bwNeighbour = bwNeighbours + 4*v;
neighborShift[v] = static_cast<int>(bwNeighbour[0]) +
static_cast<int>(bwNeighbour[1]) * static_cast<int>(m_rowSize) +
static_cast<int>(bwNeighbour[2]) * static_cast<int>(m_sliceSize);
}
}
GridElement* _grid = &(m_grid[pos2index(static_cast<int>(m_innerSize.x) - 1, static_cast<int>(m_innerSize.y) - 1, static_cast<int>(m_innerSize.z) - 1)]);
for (unsigned k = 0; k < m_innerSize.z; ++k)
{
for (unsigned j = 0; j < m_innerSize.y; ++j)
{
for (unsigned i = 0; i < m_innerSize.x; ++i)
{
GridElement minVal = _grid[neighborShift[0]] + static_cast<GridElement>(bwNeighbours[3]);
for (unsigned char v = 1; v < 14; ++v)
{
const signed char* bwNeighbour = bwNeighbours + 4 * v;
GridElement neighborVal = _grid[neighborShift[v]] + static_cast<GridElement>(bwNeighbour[3]);
minVal = std::min(minVal, neighborVal);
}
*_grid-- = minVal;
//we track the max distance
if (minVal > maxDist)
{
maxDist = minVal;
}
}
_grid -= 2; //next line
if (progressCb && !normProgress.oneStep())
{
break;
}
}
_grid -= 2 * m_rowSize; //next slice
}
}
return static_cast<int>(maxDist);
}
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