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00014 #include <stdlib.h>
00015 #include <stdio.h>
00016 #include <AR/ar.h>
00017
00018 #ifdef _WIN32
00019 # include <windows.h>
00020 # define put_zero(p,s) ZeroMemory(p, s)
00021 #else
00022 # include <string.h>
00023 # define put_zero(p,s) memset((void *)p, 0, s)
00024 #endif
00025
00026 #define USE_OPTIMIZATIONS
00027 #define WORK_SIZE 1024*32
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038 #define HARDCODED_BUFFER_WIDTH 1024
00039 #define HARDCODED_BUFFER_HEIGHT 1024
00040
00041 static ARInt16 l_imageL[HARDCODED_BUFFER_WIDTH*HARDCODED_BUFFER_HEIGHT];
00042 static ARInt16 l_imageR[HARDCODED_BUFFER_WIDTH*HARDCODED_BUFFER_HEIGHT];
00043
00044
00045
00046 static int workL[WORK_SIZE];
00047 static int workR[WORK_SIZE];
00048 static int work2L[WORK_SIZE*7];
00049 static int work2R[WORK_SIZE*7];
00050
00051 static int wlabel_numL;
00052 static int wlabel_numR;
00053 static int wareaL[WORK_SIZE];
00054 static int wareaR[WORK_SIZE];
00055 static int wclipL[WORK_SIZE*4];
00056 static int wclipR[WORK_SIZE*4];
00057 static double wposL[WORK_SIZE*2];
00058 static double wposR[WORK_SIZE*2];
00059
00060 static ARInt16 *labeling2( ARUint8 *image, int thresh,
00061 int *label_num, int **area, double **pos, int **clip,
00062 int **label_ref, int LorR );
00063 static ARInt16 *labeling3( ARUint8 *image, int thresh,
00064 int *label_num, int **area, double **pos, int **clip,
00065 int **label_ref, int LorR );
00066
00067 void arGetImgFeature( int *num, int **area, int **clip, double **pos )
00068 {
00069 *num = wlabel_numL;
00070 *area = wareaL;
00071 *clip = wclipL;
00072 *pos = wposL;
00073
00074 return;
00075 }
00076
00077 ARInt16 *arLabeling( ARUint8 *image, int thresh,
00078 int *label_num, int **area, double **pos, int **clip,
00079 int **label_ref )
00080 {
00081 if( arDebug ) {
00082 return( labeling3(image, thresh, label_num,
00083 area, pos, clip, label_ref, 1) );
00084 } else {
00085 return( labeling2(image, thresh, label_num,
00086 area, pos, clip, label_ref, 1) );
00087 }
00088 }
00089
00090 void arsGetImgFeature( int *num, int **area, int **clip, double **pos, int LorR )
00091 {
00092 if (LorR) {
00093 *num = wlabel_numL;
00094 *area = wareaL;
00095 *clip = wclipL;
00096 *pos = wposL;
00097 } else {
00098 *num = wlabel_numR;
00099 *area = wareaR;
00100 *clip = wclipR;
00101 *pos = wposR;
00102 }
00103
00104 return;
00105 }
00106
00107 ARInt16 *arsLabeling( ARUint8 *image, int thresh,
00108 int *label_num, int **area, double **pos, int **clip,
00109 int **label_ref, int LorR )
00110 {
00111 if( arDebug ) {
00112 return( labeling3(image, thresh, label_num,
00113 area, pos, clip, label_ref, LorR) );
00114 } else {
00115 return( labeling2(image, thresh, label_num,
00116 area, pos, clip, label_ref, LorR) );
00117 }
00118 }
00119
00120 static ARInt16 *labeling2( ARUint8 *image, int thresh,
00121 int *label_num, int **area, double **pos, int **clip,
00122 int **label_ref, int LorR )
00123 {
00124 ARUint8 *pnt;
00125 ARInt16 *pnt1, *pnt2;
00126 int *wk;
00127 int wk_max;
00128 int m,n;
00129 int i,j,k;
00130 int lxsize, lysize;
00131 int poff;
00132 ARInt16 *l_image;
00133 int *work, *work2;
00134 int *wlabel_num;
00135 int *warea;
00136 int *wclip;
00137 double *wpos;
00138 #ifdef USE_OPTIMIZATIONS
00139 int pnt2_index;
00140 #endif
00141 int thresht3 = thresh * 3;
00142
00143 if (LorR) {
00144 l_image = &l_imageL[0];
00145 work = &workL[0];
00146 work2 = &work2L[0];
00147 wlabel_num = &wlabel_numL;
00148 warea = &wareaL[0];
00149 wclip = &wclipL[0];
00150 wpos = &wposL[0];
00151 } else {
00152 l_image = &l_imageR[0];
00153 work = &workR[0];
00154 work2 = &work2R[0];
00155 wlabel_num = &wlabel_numR;
00156 warea = &wareaR[0];
00157 wclip = &wclipR[0];
00158 wpos = &wposR[0];
00159 }
00160
00161 if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) {
00162 lxsize = arImXsize / 2;
00163 lysize = arImYsize / 2;
00164 } else {
00165 lxsize = arImXsize;
00166 lysize = arImYsize;
00167 }
00168
00169 pnt1 = &l_image[0];
00170 pnt2 = &l_image[(lysize - 1)*lxsize];
00171
00172 #ifndef USE_OPTIMIZATIONS
00173 for(i = 0; i < lxsize; i++) {
00174 *(pnt1++) = *(pnt2++) = 0;
00175 }
00176 #else
00177
00178 for (i = 0; i < lxsize - (lxsize%4); i += 4) {
00179 *(pnt1++) = *(pnt2++) = 0;
00180 *(pnt1++) = *(pnt2++) = 0;
00181 *(pnt1++) = *(pnt2++) = 0;
00182 *(pnt1++) = *(pnt2++) = 0;
00183 }
00184 #endif
00185 pnt1 = &l_image[0];
00186 pnt2 = &l_image[lxsize - 1];
00187
00188 #ifndef USE_OPTIMIZATIONS
00189 for(i = 0; i < lysize; i++) {
00190 *pnt1 = *pnt2 = 0;
00191 pnt1 += lxsize;
00192 pnt2 += lxsize;
00193 }
00194 #else
00195
00196 for (i = 0; i < lysize - (lysize%4); i += 4) {
00197 *pnt1 = *pnt2 = 0;
00198 pnt1 += lxsize;
00199 pnt2 += lxsize;
00200
00201 *pnt1 = *pnt2 = 0;
00202 pnt1 += lxsize;
00203 pnt2 += lxsize;
00204
00205 *pnt1 = *pnt2 = 0;
00206 pnt1 += lxsize;
00207 pnt2 += lxsize;
00208
00209 *pnt1 = *pnt2 = 0;
00210 pnt1 += lxsize;
00211 pnt2 += lxsize;
00212 }
00213 #endif
00214
00215 wk_max = 0;
00216 pnt2 = &(l_image[lxsize+1]);
00217 if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) {
00218 pnt = &(image[(arImXsize*2+2)*AR_PIX_SIZE_DEFAULT]);
00219 poff = AR_PIX_SIZE_DEFAULT*2;
00220 } else {
00221 pnt = &(image[(arImXsize+1)*AR_PIX_SIZE_DEFAULT]);
00222 poff = AR_PIX_SIZE_DEFAULT;
00223 }
00224 for (j = 1; j < lysize - 1; j++, pnt += poff*2, pnt2 += 2) {
00225 for(i = 1; i < lxsize-1; i++, pnt+=poff, pnt2++) {
00226 #if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)
00227 if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 )
00228 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR)
00229 if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 )
00230 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
00231 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
00232 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)
00233 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
00234 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA)
00235 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
00236 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
00237 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 )
00238 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)
00239 if( *(pnt) <= thresh )
00240 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy)
00241 if( *(pnt+1) <= thresh )
00242 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)
00243 if( *(pnt+0) <= thresh )
00244 #else
00245 # error Unknown default pixel format defined in config.h
00246 #endif
00247 {
00248 pnt1 = &(pnt2[-lxsize]);
00249 if( *pnt1 > 0 ) {
00250 *pnt2 = *pnt1;
00251
00252 #ifndef USE_OPTIMIZATIONS
00253
00254 work2[((*pnt2)-1)*7+0] ++;
00255 work2[((*pnt2)-1)*7+1] += i;
00256 work2[((*pnt2)-1)*7+2] += j;
00257 work2[((*pnt2)-1)*7+6] = j;
00258 #else
00259
00260
00261
00262 pnt2_index = ((*pnt2)-1) * 7;
00263 work2[pnt2_index+0]++;
00264 work2[pnt2_index+1]+= i;
00265 work2[pnt2_index+2]+= j;
00266 work2[pnt2_index+6] = j;
00267
00268 #endif
00269 }
00270 else if( *(pnt1+1) > 0 ) {
00271 if( *(pnt1-1) > 0 ) {
00272 m = work[*(pnt1+1)-1];
00273 n = work[*(pnt1-1)-1];
00274 if( m > n ) {
00275 *pnt2 = n;
00276 wk = &(work[0]);
00277 for(k = 0; k < wk_max; k++) {
00278 if( *wk == m ) *wk = n;
00279 wk++;
00280 }
00281 }
00282 else if( m < n ) {
00283 *pnt2 = m;
00284 wk = &(work[0]);
00285 for(k = 0; k < wk_max; k++) {
00286 if( *wk == n ) *wk = m;
00287 wk++;
00288 }
00289 }
00290 else *pnt2 = m;
00291
00292 #ifndef USE_OPTIMIZATIONS
00293
00294 work2[((*pnt2)-1)*7+0] ++;
00295 work2[((*pnt2)-1)*7+1] += i;
00296 work2[((*pnt2)-1)*7+2] += j;
00297 work2[((*pnt2)-1)*7+6] = j;
00298 #else
00299
00300 pnt2_index = ((*pnt2)-1) * 7;
00301 work2[pnt2_index+0]++;
00302 work2[pnt2_index+1]+= i;
00303 work2[pnt2_index+2]+= j;
00304 work2[pnt2_index+6] = j;
00305 #endif
00306
00307 }
00308 else if( *(pnt2-1) > 0 ) {
00309 m = work[*(pnt1+1)-1];
00310 n = work[*(pnt2-1)-1];
00311 if( m > n ) {
00312 *pnt2 = n;
00313 wk = &(work[0]);
00314 for(k = 0; k < wk_max; k++) {
00315 if( *wk == m ) *wk = n;
00316 wk++;
00317 }
00318 }
00319 else if( m < n ) {
00320 *pnt2 = m;
00321 wk = &(work[0]);
00322 for(k = 0; k < wk_max; k++) {
00323 if( *wk == n ) *wk = m;
00324 wk++;
00325 }
00326 }
00327 else *pnt2 = m;
00328
00329 #ifndef USE_OPTIMIZATIONS
00330
00331 work2[((*pnt2)-1)*7+0] ++;
00332 work2[((*pnt2)-1)*7+1] += i;
00333 work2[((*pnt2)-1)*7+2] += j;
00334 #else
00335
00336 pnt2_index = ((*pnt2)-1) * 7;
00337 work2[pnt2_index+0]++;
00338 work2[pnt2_index+1]+= i;
00339 work2[pnt2_index+2]+= j;
00340 #endif
00341
00342 }
00343 else {
00344 *pnt2 = *(pnt1+1);
00345
00346 #ifndef USE_OPTIMIZATIONS
00347
00348 work2[((*pnt2)-1)*7+0] ++;
00349 work2[((*pnt2)-1)*7+1] += i;
00350 work2[((*pnt2)-1)*7+2] += j;
00351 if( work2[((*pnt2)-1)*7+3] > i ) work2[((*pnt2)-1)*7+3] = i;
00352 work2[((*pnt2)-1)*7+6] = j;
00353 #else
00354
00355 pnt2_index = ((*pnt2)-1) * 7;
00356 work2[pnt2_index+0]++;
00357 work2[pnt2_index+1]+= i;
00358 work2[pnt2_index+2]+= j;
00359 if( work2[pnt2_index+3] > i ) work2[pnt2_index+3] = i;
00360 work2[pnt2_index+6] = j;
00361 #endif
00362 }
00363 }
00364 else if( *(pnt1-1) > 0 ) {
00365 *pnt2 = *(pnt1-1);
00366
00367 #ifndef USE_OPTIMIZATIONS
00368
00369 work2[((*pnt2)-1)*7+0] ++;
00370 work2[((*pnt2)-1)*7+1] += i;
00371 work2[((*pnt2)-1)*7+2] += j;
00372 if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
00373 work2[((*pnt2)-1)*7+6] = j;
00374 #else
00375
00376 pnt2_index = ((*pnt2)-1) * 7;
00377 work2[pnt2_index+0]++;
00378 work2[pnt2_index+1]+= i;
00379 work2[pnt2_index+2]+= j;
00380 if( work2[pnt2_index+4] < i ) work2[pnt2_index+4] = i;
00381 work2[pnt2_index+6] = j;
00382 #endif
00383 }
00384 else if( *(pnt2-1) > 0) {
00385 *pnt2 = *(pnt2-1);
00386
00387 #ifndef USE_OPTIMIZATIONS
00388
00389 work2[((*pnt2)-1)*7+0] ++;
00390 work2[((*pnt2)-1)*7+1] += i;
00391 work2[((*pnt2)-1)*7+2] += j;
00392 if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
00393 #else
00394
00395 pnt2_index = ((*pnt2)-1) * 7;
00396 work2[pnt2_index+0]++;
00397 work2[pnt2_index+1]+= i;
00398 work2[pnt2_index+2]+= j;
00399 if( work2[pnt2_index+4] < i ) work2[pnt2_index+4] = i;
00400 #endif
00401 }
00402 else {
00403 wk_max++;
00404 if( wk_max > WORK_SIZE ) {
00405 return(0);
00406 }
00407 work[wk_max-1] = *pnt2 = wk_max;
00408 work2[(wk_max-1)*7+0] = 1;
00409 work2[(wk_max-1)*7+1] = i;
00410 work2[(wk_max-1)*7+2] = j;
00411 work2[(wk_max-1)*7+3] = i;
00412 work2[(wk_max-1)*7+4] = i;
00413 work2[(wk_max-1)*7+5] = j;
00414 work2[(wk_max-1)*7+6] = j;
00415 }
00416 }
00417 else {
00418 *pnt2 = 0;
00419 }
00420 }
00421 if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) pnt += arImXsize*AR_PIX_SIZE_DEFAULT;
00422 }
00423
00424 j = 1;
00425 wk = &(work[0]);
00426 for(i = 1; i <= wk_max; i++, wk++) {
00427 *wk = (*wk==i)? j++: work[(*wk)-1];
00428 }
00429 *label_num = *wlabel_num = j - 1;
00430 if( *label_num == 0 ) {
00431 return( l_image );
00432 }
00433
00434 put_zero( (ARUint8 *)warea, *label_num * sizeof(int) );
00435 put_zero( (ARUint8 *)wpos, *label_num * 2 * sizeof(double) );
00436 for(i = 0; i < *label_num; i++) {
00437 wclip[i*4+0] = lxsize;
00438 wclip[i*4+1] = 0;
00439 wclip[i*4+2] = lysize;
00440 wclip[i*4+3] = 0;
00441 }
00442 for(i = 0; i < wk_max; i++) {
00443 j = work[i] - 1;
00444 warea[j] += work2[i*7+0];
00445 wpos[j*2+0] += work2[i*7+1];
00446 wpos[j*2+1] += work2[i*7+2];
00447 if( wclip[j*4+0] > work2[i*7+3] ) wclip[j*4+0] = work2[i*7+3];
00448 if( wclip[j*4+1] < work2[i*7+4] ) wclip[j*4+1] = work2[i*7+4];
00449 if( wclip[j*4+2] > work2[i*7+5] ) wclip[j*4+2] = work2[i*7+5];
00450 if( wclip[j*4+3] < work2[i*7+6] ) wclip[j*4+3] = work2[i*7+6];
00451 }
00452
00453 for( i = 0; i < *label_num; i++ ) {
00454 wpos[i*2+0] /= warea[i];
00455 wpos[i*2+1] /= warea[i];
00456 }
00457
00458 *label_ref = work;
00459 *area = warea;
00460 *pos = wpos;
00461 *clip = wclip;
00462 return (l_image);
00463 }
00464
00465 static ARInt16 *labeling3( ARUint8 *image, int thresh,
00466 int *label_num, int **area, double **pos, int **clip,
00467 int **label_ref, int LorR )
00468 {
00469 ARUint8 *pnt;
00470 ARInt16 *pnt1, *pnt2;
00471 int *wk;
00472 int wk_max;
00473 int m,n;
00474 int i,j,k;
00475 int lxsize, lysize;
00476 int poff;
00477 ARUint8 *dpnt;
00478 ARInt16 *l_image;
00479 int *work, *work2;
00480 int *wlabel_num;
00481 int *warea;
00482 int *wclip;
00483 double *wpos;
00484 int thresht3 = thresh * 3;
00485 static int imageProcModePrev = -1;
00486 static int imXsizePrev = -1;
00487 static int imYsizePrev = -1;
00488
00489
00490
00491 if (imageProcModePrev != arImageProcMode || imXsizePrev != arImXsize || imYsizePrev != arImYsize) {
00492 arLabelingCleanup();
00493 imageProcModePrev = arImageProcMode;
00494 imXsizePrev = arImXsize;
00495 imYsizePrev = arImYsize;
00496 }
00497
00498 if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
00499 lxsize = arImXsize / 2;
00500 lysize = arImYsize / 2;
00501 }
00502 else {
00503 lxsize = arImXsize;
00504 lysize = arImYsize;
00505 }
00506
00507 if( LorR ) {
00508 l_image = &l_imageL[0];
00509 work = &workL[0];
00510 work2 = &work2L[0];
00511 wlabel_num = &wlabel_numL;
00512 warea = &wareaL[0];
00513 wclip = &wclipL[0];
00514 wpos = &wposL[0];
00515 if( arImageL == NULL ) {
00516 #if 0
00517 int texXsize = 1;
00518 int texYsize = 1;
00519 while( texXsize < arImXsize ) texXsize *= 2;
00520 if( texXsize > 512 ) texXsize = 512;
00521 while( texYsize < arImYsize ) texYsize *= 2;
00522 arMalloc( arImageL, ARUint8, texXsize*texYsize*AR_PIX_SIZE_DEFAULT );
00523 #else
00524 arMalloc( arImageL, ARUint8, arImXsize*arImYsize*AR_PIX_SIZE_DEFAULT );
00525 #endif
00526 put_zero( arImageL, lxsize*lysize*AR_PIX_SIZE_DEFAULT );
00527 arImage = arImageL;
00528 }
00529 }
00530 else {
00531 l_image = &l_imageR[0];
00532 work = &workR[0];
00533 work2 = &work2R[0];
00534 wlabel_num = &wlabel_numR;
00535 warea = &wareaR[0];
00536 wclip = &wclipR[0];
00537 wpos = &wposR[0];
00538 if( arImageR == NULL ) {
00539 #if 0
00540 int texXsize = 1;
00541 int texYsize = 1;
00542 while( texXsize < arImXsize ) texXsize *= 2;
00543 if( texXsize > 512 ) texXsize = 512;
00544 while( texYsize < arImYsize ) texYsize *= 2;
00545 arMalloc( arImageR, ARUint8, texXsize*texYsize*AR_PIX_SIZE_DEFAULT );
00546 #else
00547 arMalloc( arImageR, ARUint8, arImXsize*arImYsize*AR_PIX_SIZE_DEFAULT );
00548 #endif
00549 put_zero( arImageR, lxsize*lysize*AR_PIX_SIZE_DEFAULT );
00550 }
00551 }
00552
00553 pnt1 = &l_image[0];
00554 pnt2 = &l_image[(lysize-1)*lxsize];
00555 for(i = 0; i < lxsize; i++) {
00556 *(pnt1++) = *(pnt2++) = 0;
00557 }
00558
00559 pnt1 = &l_image[0];
00560 pnt2 = &l_image[lxsize-1];
00561 for(i = 0; i < lysize; i++) {
00562 *pnt1 = *pnt2 = 0;
00563 pnt1 += lxsize;
00564 pnt2 += lxsize;
00565 }
00566
00567 wk_max = 0;
00568 pnt2 = &(l_image[lxsize+1]);
00569 if( LorR ) dpnt = &(arImageL[(lxsize+1)*AR_PIX_SIZE_DEFAULT]);
00570 else dpnt = &(arImageR[(lxsize+1)*AR_PIX_SIZE_DEFAULT]);
00571 if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
00572 pnt = &(image[(arImXsize*2+2)*AR_PIX_SIZE_DEFAULT]);
00573 poff = AR_PIX_SIZE_DEFAULT*2;
00574 }
00575 else {
00576 pnt = &(image[(arImXsize+1)*AR_PIX_SIZE_DEFAULT]);
00577 poff = AR_PIX_SIZE_DEFAULT;
00578 }
00579 for(j = 1; j < lysize-1; j++, pnt+=poff*2, pnt2+=2, dpnt+=AR_PIX_SIZE_DEFAULT*2) {
00580 for(i = 1; i < lxsize-1; i++, pnt+=poff, pnt2++, dpnt+=AR_PIX_SIZE_DEFAULT) {
00581 #if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)
00582 if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 ) {
00583 *(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 255;
00584 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR)
00585 if( *(pnt+1) + *(pnt+2) + *(pnt+3) <= thresht3 ) {
00586 *(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 255;
00587 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
00588 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
00589 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
00590 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)
00591 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
00592 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
00593 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA)
00594 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
00595 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
00596 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
00597 if( *(pnt+0) + *(pnt+1) + *(pnt+2) <= thresht3 ) {
00598 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 255;
00599 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)
00600 if( *(pnt) <= thresh ) {
00601 *(dpnt) = 255;
00602 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy)
00603 if( *(pnt+1) <= thresh ) {
00604 *(dpnt+0) = 128; *(dpnt+1) = 235;
00605 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)
00606 if( *(pnt+0) <= thresh ) {
00607 *(dpnt+0) = 235; *(dpnt+1) = 128;
00608 #else
00609 # error Unknown default pixel format defined in config.h
00610 #endif
00611 pnt1 = &(pnt2[-lxsize]);
00612 if( *pnt1 > 0 ) {
00613 *pnt2 = *pnt1;
00614 work2[((*pnt2)-1)*7+0] ++;
00615 work2[((*pnt2)-1)*7+1] += i;
00616 work2[((*pnt2)-1)*7+2] += j;
00617 work2[((*pnt2)-1)*7+6] = j;
00618 }
00619 else if( *(pnt1+1) > 0 ) {
00620 if( *(pnt1-1) > 0 ) {
00621 m = work[*(pnt1+1)-1];
00622 n = work[*(pnt1-1)-1];
00623 if( m > n ) {
00624 *pnt2 = n;
00625 wk = &(work[0]);
00626 for(k = 0; k < wk_max; k++) {
00627 if( *wk == m ) *wk = n;
00628 wk++;
00629 }
00630 }
00631 else if( m < n ) {
00632 *pnt2 = m;
00633 wk = &(work[0]);
00634 for(k = 0; k < wk_max; k++) {
00635 if( *wk == n ) *wk = m;
00636 wk++;
00637 }
00638 }
00639 else *pnt2 = m;
00640 work2[((*pnt2)-1)*7+0] ++;
00641 work2[((*pnt2)-1)*7+1] += i;
00642 work2[((*pnt2)-1)*7+2] += j;
00643 work2[((*pnt2)-1)*7+6] = j;
00644 }
00645 else if( *(pnt2-1) > 0 ) {
00646 m = work[*(pnt1+1)-1];
00647 n = work[*(pnt2-1)-1];
00648 if( m > n ) {
00649 *pnt2 = n;
00650 wk = &(work[0]);
00651 for(k = 0; k < wk_max; k++) {
00652 if( *wk == m ) *wk = n;
00653 wk++;
00654 }
00655 }
00656 else if( m < n ) {
00657 *pnt2 = m;
00658 wk = &(work[0]);
00659 for(k = 0; k < wk_max; k++) {
00660 if( *wk == n ) *wk = m;
00661 wk++;
00662 }
00663 }
00664 else *pnt2 = m;
00665 work2[((*pnt2)-1)*7+0] ++;
00666 work2[((*pnt2)-1)*7+1] += i;
00667 work2[((*pnt2)-1)*7+2] += j;
00668 }
00669 else {
00670 *pnt2 = *(pnt1+1);
00671 work2[((*pnt2)-1)*7+0] ++;
00672 work2[((*pnt2)-1)*7+1] += i;
00673 work2[((*pnt2)-1)*7+2] += j;
00674 if( work2[((*pnt2)-1)*7+3] > i ) work2[((*pnt2)-1)*7+3] = i;
00675 work2[((*pnt2)-1)*7+6] = j;
00676 }
00677 }
00678 else if( *(pnt1-1) > 0 ) {
00679 *pnt2 = *(pnt1-1);
00680 work2[((*pnt2)-1)*7+0] ++;
00681 work2[((*pnt2)-1)*7+1] += i;
00682 work2[((*pnt2)-1)*7+2] += j;
00683 if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
00684 work2[((*pnt2)-1)*7+6] = j;
00685 }
00686 else if( *(pnt2-1) > 0) {
00687 *pnt2 = *(pnt2-1);
00688 work2[((*pnt2)-1)*7+0] ++;
00689 work2[((*pnt2)-1)*7+1] += i;
00690 work2[((*pnt2)-1)*7+2] += j;
00691 if( work2[((*pnt2)-1)*7+4] < i ) work2[((*pnt2)-1)*7+4] = i;
00692 }
00693 else {
00694 wk_max++;
00695 if( wk_max > WORK_SIZE ) {
00696 return(0);
00697 }
00698 work[wk_max-1] = *pnt2 = wk_max;
00699 work2[(wk_max-1)*7+0] = 1;
00700 work2[(wk_max-1)*7+1] = i;
00701 work2[(wk_max-1)*7+2] = j;
00702 work2[(wk_max-1)*7+3] = i;
00703 work2[(wk_max-1)*7+4] = i;
00704 work2[(wk_max-1)*7+5] = j;
00705 work2[(wk_max-1)*7+6] = j;
00706 }
00707 }
00708 else {
00709 *pnt2 = 0;
00710 #if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)
00711 *(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 0; }
00712 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR)
00713 *(dpnt+1) = *(dpnt+2) = *(dpnt+3) = 0; }
00714 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
00715 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
00716 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)
00717 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
00718 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA)
00719 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
00720 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
00721 *(dpnt+0) = *(dpnt+1) = *(dpnt+2) = 0; }
00722 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)
00723 *(dpnt) = 0; }
00724 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy)
00725 *(dpnt+0) = 128; *(dpnt+1) = 16; }
00726 #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)
00727 *(dpnt+0) = 16; *(dpnt+1) = 128; }
00728 #else
00729 # error Unknown default pixel format defined in config.h
00730 #endif
00731 }
00732 if (arImageProcMode == AR_IMAGE_PROC_IN_HALF) pnt += arImXsize*AR_PIX_SIZE_DEFAULT;
00733 }
00734
00735 j = 1;
00736 wk = &(work[0]);
00737 for(i = 1; i <= wk_max; i++, wk++) {
00738 *wk = (*wk==i)? j++: work[(*wk)-1];
00739 }
00740 *label_num = *wlabel_num = j - 1;
00741 if( *label_num == 0 ) {
00742 return( l_image );
00743 }
00744
00745 put_zero( (ARUint8 *)warea, *label_num * sizeof(int) );
00746 put_zero( (ARUint8 *)wpos, *label_num * 2 * sizeof(double) );
00747 for(i = 0; i < *label_num; i++) {
00748 wclip[i*4+0] = lxsize;
00749 wclip[i*4+1] = 0;
00750 wclip[i*4+2] = lysize;
00751 wclip[i*4+3] = 0;
00752 }
00753 for(i = 0; i < wk_max; i++) {
00754 j = work[i] - 1;
00755 warea[j] += work2[i*7+0];
00756 wpos[j*2+0] += work2[i*7+1];
00757 wpos[j*2+1] += work2[i*7+2];
00758 if( wclip[j*4+0] > work2[i*7+3] ) wclip[j*4+0] = work2[i*7+3];
00759 if( wclip[j*4+1] < work2[i*7+4] ) wclip[j*4+1] = work2[i*7+4];
00760 if( wclip[j*4+2] > work2[i*7+5] ) wclip[j*4+2] = work2[i*7+5];
00761 if( wclip[j*4+3] < work2[i*7+6] ) wclip[j*4+3] = work2[i*7+6];
00762 }
00763
00764 for( i = 0; i < *label_num; i++ ) {
00765 wpos[i*2+0] /= warea[i];
00766 wpos[i*2+1] /= warea[i];
00767 }
00768
00769 *label_ref = work;
00770 *area = warea;
00771 *pos = wpos;
00772 *clip = wclip;
00773 return( l_image );
00774 }
00775
00776 void arLabelingCleanup(void)
00777 {
00778 if (arImageL) {
00779 free (arImageL);
00780 arImageL = NULL;
00781 arImage = NULL;
00782 }
00783 if (arImageR) {
00784 free (arImageR);
00785 arImageR = NULL;
00786 }
00787 }
