/* * SPDX-License-Identifier: MIT * * Copyright (C) 2013-2024 OpenMV, LLC. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * Line functions. */ #include "imlib.h" static void pixel_magnitude(image_t *ptr, int x, int y, int *theta, uint32_t *mag) { switch (ptr->pixfmt) { case PIXFORMAT_BINARY: { uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y); int pixel; // Sobel Algorithm Below int x_acc = 0; int y_acc = 0; if (y != 0) { row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT); } pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0))); x_acc += pixel * +1; // x[0,0] -> pixel * +1 y_acc += pixel * +1; // y[0,0] -> pixel * +1 pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)); // x[0,1] -> pixel * 0 y_acc += pixel * +2; // y[0,1] -> pixel * +2 pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1))); x_acc += pixel * -1; // x[0,2] -> pixel * -1 y_acc += pixel * +1; // y[0,2] -> pixel * +1 if (y != 0) { row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT); } pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0))); x_acc += pixel * +2; // x[1,0] -> pixel * +2 // y[1,0] -> pixel * 0 // pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)); // x[1,1] -> pixel * 0 // y[1,1] -> pixel * 0 pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1))); x_acc += pixel * -2; // x[1,2] -> pixel * -2 // y[1,2] -> pixel * 0 if (y != (ptr->h - 1)) { row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT); } pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0))); x_acc += pixel * +1; // x[2,0] -> pixel * +1 y_acc += pixel * -1; // y[2,0] -> pixel * -1 pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)); // x[2,1] -> pixel * 0 y_acc += pixel * -2; // y[2,1] -> pixel * -2 pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1))); x_acc += pixel * -1; // x[2,2] -> pixel * -1 y_acc += pixel * -1; // y[2,2] -> pixel * -1 if (y != (ptr->h - 1)) { row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT); } *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI) if (*theta < 0) { *theta += 180; } *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc))); break; } case PIXFORMAT_GRAYSCALE: { uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y); int pixel; // Sobel Algorithm Below... w/ Scharr... int x_acc = 0; int y_acc = 0; if (y != 0) { row_ptr -= ptr->w; } pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)); x_acc += pixel * +1; // x[0,0] -> pixel * +1 y_acc += pixel * +1; // y[0,0] -> pixel * +1 pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x); // x[0,1] -> pixel * 0 y_acc += pixel * +2; // y[0,1] -> pixel * +2 pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)); x_acc += pixel * -1; // x[0,2] -> pixel * -1 y_acc += pixel * +1; // y[0,2] -> pixel * +1 if (y != 0) { row_ptr += ptr->w; } pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)); x_acc += pixel * +2; // x[1,0] -> pixel * +2 // y[1,0] -> pixel * 0 // pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)); // x[1,1] -> pixel * 0 // y[1,1] -> pixel * 0 pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)); x_acc += pixel * -2; // x[1,2] -> pixel * -2 // y[1,2] -> pixel * 0 if (y != (ptr->h - 1)) { row_ptr += ptr->w; } pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)); x_acc += pixel * +1; // x[2,0] -> pixel * +1 y_acc += pixel * -1; // y[2,0] -> pixel * -1 pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x); // x[2,1] -> pixel * 0 y_acc += pixel * -2; // y[2,1] -> pixel * -2 pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)); x_acc += pixel * -1; // x[2,2] -> pixel * -1 y_acc += pixel * -1; // y[2,2] -> pixel * -1 if (y != (ptr->h - 1)) { row_ptr -= ptr->w; } *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI) if (*theta < 0) { *theta += 180; } *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc))); break; } case PIXFORMAT_RGB565: { uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y); int pixel; // Sobel Algorithm Below... w/ Scharr... int x_acc = 0; int y_acc = 0; if (y != 0) { row_ptr -= ptr->w; } pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0))); x_acc += pixel * +1; // x[0,0] -> pixel * +1 y_acc += pixel * +1; // y[0,0] -> pixel * +1 pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x)); // x[0,1] -> pixel * 0 y_acc += pixel * +2; // y[0,1] -> pixel * +2 pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1))); x_acc += pixel * -1; // x[0,2] -> pixel * -1 y_acc += pixel * +1; // y[0,2] -> pixel * +1 if (y != 0) { row_ptr += ptr->w; } pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0))); x_acc += pixel * +2; // x[1,0] -> pixel * +2 // y[1,0] -> pixel * 0 // pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x)); // x[1,1] -> pixel * 0 // y[1,1] -> pixel * 0 pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1))); x_acc += pixel * -2; // x[1,2] -> pixel * -2 // y[1,2] -> pixel * 0 if (y != (ptr->h - 1)) { row_ptr += ptr->w; } pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0))); x_acc += pixel * +1; // x[2,0] -> pixel * +1 y_acc += pixel * -1; // y[2,0] -> pixel * -1 pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x)); // x[2,1] -> pixel * 0 y_acc += pixel * -2; // y[2,1] -> pixel * -2 pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1))); x_acc += pixel * -1; // x[2,2] -> pixel * -1 y_acc += pixel * -1; // y[2,2] -> pixel * -1 if (y != (ptr->h - 1)) { row_ptr -= ptr->w; } *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI) if (*theta < 0) { *theta += 180; } *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc))); break; } default: { break; } } } // http://www.brackeen.com/vga/source/djgpp20/lines.c.html // http://www.brackeen.com/vga/source/bc31/lines.c.html static bool merge_line(line_t *big, line_t *small, unsigned int threshold) { int dx = big->x2 - big->x1; // the horizontal distance of the line int dy = big->y2 - big->y1; // the vertical distance of the line int dxabs = abs(dx); int dyabs = abs(dy); int sdx = (dx < 0) ? -1 :((dx > 0) ? 1 : 0); int sdy = (dy < 0) ? -1 :((dy > 0) ? 1 : 0); int x = dyabs >> 1; // correct int y = dxabs >> 1; // correct int px = big->x1; int py = big->y1; int x_diff_0 = (px - small->x1); int y_diff_0 = (py - small->y1); if (fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))) <= threshold) { return true; } int x_diff_1 = (px - small->x2); int y_diff_1 = (py - small->y2); if (fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))) <= threshold) { return true; } if (dxabs >= dyabs) { // the line is more horizontal than vertical for (int i = 0; i < dxabs; i++) { y += dyabs; if (y >= dxabs) { y -= dxabs; py += sdy; } px += sdx; x_diff_0 = (px - small->x1); y_diff_0 = (py - small->y1); if (fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))) <= threshold) { return true; } x_diff_1 = (px - small->x2); y_diff_1 = (py - small->y2); if (fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))) <= threshold) { return true; } } } else { // the line is more vertical than horizontal for (int i = 0; i < dyabs; i++) { x += dxabs; if (x >= dyabs) { x -= dyabs; px += sdx; } py += sdy; x_diff_0 = (px - small->x1); y_diff_0 = (py - small->y1); if (fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))) <= threshold) { return true; } x_diff_1 = (px - small->x2); y_diff_1 = (py - small->y2); if (fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))) <= threshold) { return true; } } } return false; } void merge_alot(list_t *out, int threshold, int theta_threshold) { for (;;) { bool merge_occured = false; list_t out_temp; list_init(&out_temp, sizeof(find_lines_list_lnk_data_t)); while (list_size(out)) { find_lines_list_lnk_data_t lnk_line; list_pop_front(out, &lnk_line); for (size_t k = 0, l = list_size(out); k < l; k++) { find_lines_list_lnk_data_t tmp_line; list_pop_front(out, &tmp_line); int x_diff_0 = (lnk_line.line.x2 - lnk_line.line.x1); int y_diff_0 = (lnk_line.line.y2 - lnk_line.line.y1); int length_0 = fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))); int x_diff_1 = (tmp_line.line.x2 - tmp_line.line.x1); int y_diff_1 = (tmp_line.line.y2 - tmp_line.line.y1); int length_1 = fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))); int theta_diff = abs(lnk_line.theta - tmp_line.theta); int theta_diff_2 = (theta_diff >= 90) ? (180 - theta_diff) : theta_diff; if ((theta_diff_2 <= theta_threshold) && merge_line((length_0 > length_1) ? &lnk_line.line : &tmp_line.line, (length_0 <= length_1) ? &lnk_line.line : &tmp_line.line, threshold)) { if (abs(x_diff_0) >= abs(y_diff_0)) { // the line is more horizontal than vertical if (x_diff_0 < 0) { // Make sure x slope is positive for the next part. int temp_x = lnk_line.line.x1; lnk_line.line.x1 = lnk_line.line.x2; lnk_line.line.x2 = temp_x; int temp_y = lnk_line.line.y1; lnk_line.line.y1 = lnk_line.line.y2; lnk_line.line.y2 = temp_y; x_diff_0 = (lnk_line.line.x2 - lnk_line.line.x1); y_diff_0 = (lnk_line.line.y2 - lnk_line.line.y1); } if (x_diff_1 < 0) { // Make sure x slope is positive for the next part. int temp_x = tmp_line.line.x1; tmp_line.line.x1 = tmp_line.line.x2; tmp_line.line.x2 = temp_x; int temp_y = tmp_line.line.y1; tmp_line.line.y1 = tmp_line.line.y2; tmp_line.line.y2 = temp_y; x_diff_1 = (tmp_line.line.x2 - tmp_line.line.x1); y_diff_1 = (tmp_line.line.y2 - tmp_line.line.y1); } if (length_0 > length_1) { int x_min = IM_MIN(lnk_line.line.x1, tmp_line.line.x1); int x_max = IM_MAX(lnk_line.line.x2, tmp_line.line.x2); lnk_line.line.y1 = lnk_line.line.y1 - ((y_diff_0 * (lnk_line.line.x1 - x_min)) / x_diff_0); lnk_line.line.x1 = x_min; lnk_line.line.y2 = lnk_line.line.y2 + ((y_diff_0 * (x_max - lnk_line.line.x2)) / x_diff_0); lnk_line.line.x2 = x_max; } else { int x_min = IM_MIN(tmp_line.line.x1, lnk_line.line.x1); int x_max = IM_MAX(tmp_line.line.x2, lnk_line.line.x2); lnk_line.line.y1 = tmp_line.line.y1 - ((y_diff_0 * (tmp_line.line.x1 - x_min)) / x_diff_0); lnk_line.line.x1 = x_min; lnk_line.line.y2 = tmp_line.line.y2 + ((y_diff_0 * (x_max - tmp_line.line.x2)) / x_diff_0); lnk_line.line.x2 = x_max; } } else { // the line is more vertical than horizontal if (y_diff_0 < 0) { // Make sure y slope is positive for the next part. int temp_x = lnk_line.line.x1; lnk_line.line.x1 = lnk_line.line.x2; lnk_line.line.x2 = temp_x; int temp_y = lnk_line.line.y1; lnk_line.line.y1 = lnk_line.line.y2; lnk_line.line.y2 = temp_y; x_diff_0 = (lnk_line.line.x2 - lnk_line.line.x1); y_diff_0 = (lnk_line.line.y2 - lnk_line.line.y1); } if (y_diff_1 < 0) { // Make sure y slope is positive for the next part. int temp_x = tmp_line.line.x1; tmp_line.line.x1 = tmp_line.line.x2; tmp_line.line.x2 = temp_x; int temp_y = tmp_line.line.y1; tmp_line.line.y1 = tmp_line.line.y2; tmp_line.line.y2 = temp_y; x_diff_1 = (tmp_line.line.x2 - tmp_line.line.x1); y_diff_1 = (tmp_line.line.y2 - tmp_line.line.y1); } if (length_0 > length_1) { int y_min = IM_MIN(lnk_line.line.y1, tmp_line.line.y1); int y_max = IM_MAX(lnk_line.line.y2, tmp_line.line.y2); lnk_line.line.x1 = lnk_line.line.x1 - ((x_diff_0 * (lnk_line.line.y1 - y_min)) / y_diff_0); lnk_line.line.y1 = y_min; lnk_line.line.x2 = lnk_line.line.x2 + ((x_diff_0 * (y_max - lnk_line.line.y2)) / y_diff_0); lnk_line.line.y2 = y_max; } else { int y_min = IM_MIN(tmp_line.line.y1, lnk_line.line.y1); int y_max = IM_MAX(tmp_line.line.y2, lnk_line.line.y2); lnk_line.line.x1 = tmp_line.line.x1 - ((x_diff_0 * (tmp_line.line.y1 - y_min)) / y_diff_0); lnk_line.line.y1 = y_min; lnk_line.line.x2 = tmp_line.line.x2 + ((x_diff_0 * (y_max - tmp_line.line.y2)) / y_diff_0); lnk_line.line.y2 = y_max; } } merge_occured = true; } else { list_push_back(out, &tmp_line); } } list_push_back(&out_temp, &lnk_line); } list_copy(out, &out_temp); if (!merge_occured) { break; } } } // http://www.brackeen.com/vga/source/djgpp20/lines.c.html // http://www.brackeen.com/vga/source/bc31/lines.c.html size_t trace_line(image_t *ptr, line_t *l, int *theta_buffer, uint32_t *mag_buffer, point_t *point_buffer) { int dx = l->x2 - l->x1; // the horizontal distance of the line int dy = l->y2 - l->y1; // the vertical distance of the line int dxabs = abs(dx); int dyabs = abs(dy); int sdx = (dx < 0) ? -1 :((dx > 0) ? 1 : 0); int sdy = (dy < 0) ? -1 :((dy > 0) ? 1 : 0); int x = dyabs >> 1; // correct int y = dxabs >> 1; // correct int px = l->x1; int py = l->y1; size_t index = 0; pixel_magnitude(ptr, px, py, theta_buffer + index, mag_buffer + index); point_buffer[index++] = (point_t) { .x = px, .y = py }; if (dxabs >= dyabs) { // the line is more horizontal than vertical for (int i = 0; i < dxabs; i++) { y += dyabs; if (y >= dxabs) { y -= dxabs; py += sdy; } px += sdx; pixel_magnitude(ptr, px, py, theta_buffer + index, mag_buffer + index); point_buffer[index++] = (point_t) { .x = px, .y = py }; } } else { // the line is more vertical than horizontal for (int i = 0; i < dyabs; i++) { x += dxabs; if (x >= dyabs) { x -= dyabs; px += sdx; } py += sdy; pixel_magnitude(ptr, px, py, theta_buffer + index, mag_buffer + index); point_buffer[index++] = (point_t) { .x = px, .y = py }; } } return index; }