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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2011-2019, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.alg.shapes.polygon;
import boofcv.abst.filter.binary.BinaryContourFinder;
import boofcv.abst.filter.binary.BinaryContourInterface;
import boofcv.abst.shapes.polyline.PointsToPolyline;
import boofcv.alg.InputSanityCheck;
import boofcv.alg.filter.binary.ContourPacked;
import boofcv.misc.MovingAverage;
import boofcv.struct.ConfigLength;
import boofcv.struct.distort.PixelTransform;
import boofcv.struct.image.GrayU8;
import boofcv.struct.image.ImageGray;
import georegression.geometry.UtilPolygons2D_I32;
import georegression.metric.Area2D_F64;
import georegression.struct.point.Point2D_F32;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point2D_I32;
import georegression.struct.shapes.Polygon2D_F64;
import org.ddogleg.struct.FastQueue;
import org.ddogleg.struct.GrowQueue_B;
import org.ddogleg.struct.GrowQueue_I32;
import java.util.ArrayList;
import java.util.List;
/**
* TODO Update documentation
*
* Detects convex polygons with the specified number of sides in an image. Shapes are assumed to be black shapes
* against a white background, allowing for thresholding to be used. Subpixel refinement is done using the
* provided implementation of {@link RefinePolygonToGray}.
*
*
* Processing Steps:
*
* - First the input a gray scale image and a binarized version of it.
* - The contours of black blobs are found.
* - From the contours polygons are fitted and refined to pixel accuracy.
* - (Optional) Sub-pixel refinement of the polygon's edges and/or corners.
*
*
*
* The returned polygons will encompass the entire black polygon. Here is a simple example in 1D. If all pixels are
* white, but pixels ranging from 5 to 10, inclusive, then the returned boundaries would be 5.0 to 11.0. This
* means that coordinates 5.0 ≤ x < 11.0 are all black. 11.0 is included, but note that the entire pixel 11 is white.
*
*
* Notes:
*
* - If a lens distortion model is provided for lens distortion, the returned polygon will be in undistorted.
*
*
* @author Peter Abeles
*/
public class DetectPolygonFromContour> {
// minimum size of a shape's contour as a fraction of the image width
private ConfigLength minimumContourConfig;
private int minimumContour;
private double minimumArea; // computed from minimumContour
private BinaryContourFinder contourFinder;
private BinaryContourInterface.Padded contourPadded;
int imageWidth,imageHeight; // input image shape
// finds the initial polygon around a target candidate
private PointsToPolyline contourToPolyline;
private GrowQueue_I32 splits = new GrowQueue_I32();
// Used to prune false positives
private ContourEdgeIntensity contourEdgeIntensity;
// extera information for found shapes
FastQueue foundInfo = new FastQueue<>(Info.class, true);
// true if points touching the border are NOT pruned
private boolean canTouchBorder;
// work space for initial polygon
private Polygon2D_F64 polygonWork = new Polygon2D_F64(); // undistorted pixel coordinate
private Polygon2D_F64 polygonDistorted = new Polygon2D_F64(); // distorted pixel coordinates;
// should the order of the polygon be on clockwise order on output?
private boolean outputClockwise;
// transforms which can be used to handle lens distortion
protected PixelTransform distToUndist, undistToDist;
protected Point2D_F32 distortedPoint = new Point2D_F32();
private boolean verbose = false;
// How intense the edge along a contour needs to be for it to be processed
double contourEdgeThreshold;
// helper used to customize low level behaviors internally
private PolygonHelper helper;
// storage space for contour in undistorted pixels
private FastQueue undistorted = new FastQueue<>(Point2D_I32.class,true);
// type of input gray scale image it can process
private Class inputType;
// indicates which corners touch the border
private GrowQueue_B borderCorners = new GrowQueue_B();
// temporary storage for a contour
private FastQueue contourTmp = new FastQueue<>(Point2D_I32.class,true);
List polygonPixel = new ArrayList<>();
// times for internal profiling
MovingAverage milliContour = new MovingAverage(0.8);
MovingAverage milliShapes = new MovingAverage(0.8);
/**
* Configures the detector.
* @param contourToPolyline Fits a crude polygon to the shape's binary contour
* @param minimumContour Minimum allowed length of a contour. Copy stored internally. Try 50 pixels.
* @param outputClockwise If true then the order of the output polygons will be in clockwise order
* @param touchBorder if true then shapes which touch the image border are allowed
* @param contourEdgeThreshold Polygons with an edge intensity less than this are discarded.
* @param inputType Type of input image it's processing
*/
public DetectPolygonFromContour(PointsToPolyline contourToPolyline,
ConfigLength minimumContour,
boolean outputClockwise,
boolean touchBorder,
double contourEdgeThreshold,
double tangentEdgeIntensity,
BinaryContourFinder contourFinder,
Class inputType) {
this.minimumContourConfig = minimumContour.copy(); // local copy so that external can be modified
this.contourToPolyline = contourToPolyline;
this.outputClockwise = outputClockwise;
this.canTouchBorder = touchBorder;
this.contourEdgeThreshold = contourEdgeThreshold;
this.contourFinder = contourFinder;
this.inputType = inputType;
if( contourFinder instanceof BinaryContourInterface.Padded) {
contourPadded = (BinaryContourInterface.Padded)contourFinder;
}
if( !this.contourToPolyline.isLoop() )
throw new IllegalArgumentException("ContourToPolygon must be configured for loops");
if( contourEdgeThreshold > 0 ) {
this.contourEdgeIntensity = new ContourEdgeIntensity<>(30, 1, tangentEdgeIntensity, inputType);
}
polygonWork = new Polygon2D_F64(1);
}
/**
* For unit testing
*/
protected DetectPolygonFromContour(){}
/**
* Specifies transforms which can be used to change coordinates from distorted to undistorted and the opposite
* coordinates. The undistorted image is never explicitly created.
*
* @param width Input image width. Used in sanity check only.
* @param height Input image height. Used in sanity check only.
* @param distToUndist Transform from distorted to undistorted image.
* @param undistToDist Transform from undistorted to distorted image.
*/
public void setLensDistortion(int width , int height ,
PixelTransform distToUndist , PixelTransform undistToDist ) {
this.distToUndist = distToUndist;
this.undistToDist = undistToDist;
}
public void resetRuntimeProfiling() {
milliContour.reset();
milliShapes.reset();
}
/**
* Discard previously set lens distortion models
*/
public void clearLensDistortion() {
this.distToUndist = null;
this.undistToDist = null;
}
/**
* Examines the undistorted gray scale input image for squares. If p
*
* @param gray Input image
*/
public void process(T gray, GrayU8 binary) {
if( verbose ) System.out.println("ENTER DetectPolygonFromContour.process()");
if( contourPadded != null && !contourPadded.isCreatePaddedCopy() ) {
int padding = 2;
if( gray.width+padding != binary.width || gray.height+padding != binary.height ) {
throw new IllegalArgumentException("Including padding, expected a binary image with shape "
+ (gray.width+padding)+"x"+(gray.height+padding));
}
} else {
InputSanityCheck.checkSameShape(binary, gray);
}
if( imageWidth != gray.width || imageHeight != gray.height )
configure(gray.width,gray.height);
// reset storage for output. Call reset individually here to ensure that all references
// are nulled from last time
for (int i = 0; i < foundInfo.size; i++) {
foundInfo.get(i).reset();
}
foundInfo.reset();
if( contourEdgeIntensity != null )
contourEdgeIntensity.setImage(gray);
long time0 = System.nanoTime();
// find all the contours
contourFinder.process(binary);
long time1 = System.nanoTime();
// Using the contours find the polygons
findCandidateShapes();
long time2 = System.nanoTime();
double a = (time1-time0)*1e-6;
double b = (time2-time1)*1e-6;
milliContour.update(a);
milliShapes.update(b);
if( verbose ) System.out.println("EXIT DetectPolygonFromContour.process()");
}
/**
* Specifies the image's intrinsic parameters and target size
*
* @param width Width of the input image
* @param height Height of the input image
*/
private void configure( int width , int height ) {
this.imageWidth = width;
this.imageHeight = height;
// adjust size based parameters based on image size
this.minimumContour = minimumContourConfig.computeI(Math.min(width,height));
this.minimumContour = Math.max(4,minimumContour); // This is needed to avoid processing zero or other impossible
this.minimumArea = Math.pow(this.minimumContour /4.0,2);
contourFinder.setMinContour(minimumContour);
if( helper != null )
helper.setImageShape(width,height);
}
/**
* Finds blobs in the binary image. Then looks for blobs that meet size and shape requirements. See code
* below for the requirements. Those that remain are considered to be target candidates.
*/
private void findCandidateShapes() {
// find blobs where all 4 edges are lines
List blobs = contourFinder.getContours();
for (int i = 0; i < blobs.size(); i++) {
ContourPacked c = blobs.get(i);
contourTmp.reset();
contourFinder.loadContour(c.externalIndex,contourTmp);
if( contourTmp.size() >= minimumContour) {
float edgeInside=-1,edgeOutside=-1;
// System.out.println("----- candidate "+contourTmp.size()+" "+contourTmp.get(0));
// ignore shapes which touch the image border
boolean touchesBorder = touchesBorder(contourTmp.toList());
if( !canTouchBorder && touchesBorder ) {
if( verbose ) System.out.println("rejected polygon, touched border");
continue;
}
if( helper != null )
if( !helper.filterContour(contourTmp.toList(),touchesBorder,true) )
continue;
// filter out contours which are noise
if( contourEdgeIntensity != null ) {
contourEdgeIntensity.process(contourTmp.toList(),true);
edgeInside = contourEdgeIntensity.getInsideAverage();
edgeOutside = contourEdgeIntensity.getOutsideAverage();
// take the ABS because CCW/CW isn't known yet
if( Math.abs(edgeOutside-edgeInside) < contourEdgeThreshold ) {
if( verbose ) System.out.println("rejected polygon. contour edge intensity");
continue;
}
}
// remove lens distortion
List undistorted;
if( distToUndist != null ) {
undistorted = this.undistorted.toList();
removeDistortionFromContour(contourTmp.toList(),this.undistorted);
if( helper != null )
if( !helper.filterContour(this.undistorted.toList(),touchesBorder,false) )
continue;
} else {
undistorted = contourTmp.toList();
}
if( helper != null ) {
helper.configureBeforePolyline(contourToPolyline,touchesBorder);
}
// Find the initial approximate fit of a polygon to the contour
if( !contourToPolyline.process(undistorted,splits) ) {
if( verbose ) System.out.println("rejected polygon initial fit failed. contour size = "+contourTmp.size());
continue;
}
// determine the polygon's orientation
polygonPixel.clear();
for (int j = 0; j < splits.size; j++) {
polygonPixel.add(undistorted.get(splits.get(j)));
}
boolean isCCW = UtilPolygons2D_I32.isCCW(polygonPixel);
// Now that the orientation is known it can check to see if it's actually trying to fit to a
// white blob instead of a black blob
if( contourEdgeIntensity != null ) {
// before it assumed it was CCW
if( !isCCW ) {
float tmp = edgeInside;
edgeInside = edgeOutside;
edgeOutside = tmp;
}
if( edgeInside > edgeOutside ) {
if( verbose ) System.out.println("White blob. Rejected");
continue;
}
}
// see if it should be flipped so that the polygon has the correct orientation
if( outputClockwise == isCCW ) {
flip(splits.data,splits.size);
}
// convert the format of the initial crude polygon
polygonWork.vertexes.resize(splits.size());
polygonDistorted.vertexes.resize(splits.size());
for (int j = 0; j < splits.size(); j++) {
Point2D_I32 p = undistorted.get( splits.get(j) );
Point2D_I32 q = contourTmp.get( splits.get(j));
polygonWork.get(j).set(p.x,p.y);
polygonDistorted.get(j).set(q.x,q.y);
}
if( touchesBorder ) {
determineCornersOnBorder(polygonDistorted, borderCorners);
} else {
borderCorners.resize(0);
}
if( helper != null ) {
if( !helper.filterPixelPolygon(polygonWork,polygonDistorted,borderCorners,touchesBorder) ) {
if( verbose ) System.out.println("rejected by helper.filterPixelPolygon()");
continue;
}
}
// make sure it's big enough
double area = Area2D_F64.polygonSimple(polygonWork);
if( area < minimumArea ) {
if( verbose ) System.out.println("Rejected area");
continue;
}
// Get the storage for a new polygon. This is recycled and has already been cleaned up
Info info = foundInfo.grow();
if( distToUndist != null ) {
// changed the save points in the packed contour list with undistorted coordinates
contourFinder.writeContour(c.externalIndex,undistorted);
}
// save results
info.splits.setTo(splits);
info.contourTouchesBorder = touchesBorder;
info.external = true;
info.edgeInside = edgeInside;
info.edgeOutside = edgeOutside;
info.contour = c;
info.polygon.set(polygonWork);
info.polygonDistorted.set(polygonDistorted);
info.borderCorners.setTo(borderCorners);
}
}
}
// TODO move into ddogleg? primitive flip <--- I think this is specific to polygons
public static void flip( int []a , int N ) {
int H = N/2;
for (int i = 1; i <= H; i++) {
int j = N-i;
int tmp = a[i];
a[i] = a[j];
a[j] = tmp;
}
}
/**
* Check to see if corners are touching the image border
* @param polygon Polygon in distorted (original image) pixels
* @param onImageBorder storage for corner indexes
*/
void determineCornersOnBorder( Polygon2D_F64 polygon , GrowQueue_B onImageBorder ) {
onImageBorder.reset();
for (int i = 0; i < polygon.size(); i++) {
Point2D_F64 p = polygon.get(i);
onImageBorder.add( p.x <= 1 || p.y <= 1 || p.x >= imageWidth-2 || p.y >= imageHeight-2);
}
}
/**
* Returns the undistorted contour for a shape. Data is potentially recycled the next time
* any function in this class is invoked.
* @param info Which shape
* @return List of points in the contour
*/
public List getContour( Info info ) {
contourTmp.reset();
contourFinder.loadContour(info.contour.externalIndex,contourTmp);
return contourTmp.toList();
}
// /**
// * Check to see if corners are touching the image border
// * @param polygon Refined polygon
// * @param corners storage for corner indexes
// */
// void determineCornersOnBorder( Polygon2D_F64 polygon , GrowQueue_B corners , float tol ) {
// corners.reset();
// for (int i = 0; i < polygon.size(); i++) {
// corners.add(isUndistortedOnBorder(polygon.get(i),tol));
// }
// }
//
// /**
// * Coverts the point into distorted image coordinates and then checks to see if it is on the image border
// * @param undistorted pixel in undistorted coordinates
// * @param tol Tolerance for a point being on the image border
// * @return true if on the border or false otherwise
// */
// boolean isUndistortedOnBorder( Point2D_F64 undistorted , float tol ) {
// float x,y;
//
// if( undistToDist == null ) {
// x = (float)undistorted.x;
// y = (float)undistorted.y;
// } else {
// undistToDist.compute((int)Math.round(undistorted.x),(int)Math.round(undistorted.y));
// x = undistToDist.distX;
// y = undistToDist.distY;
// }
//
// return( x <= tol || y <= tol || x+tol >= labeled.width-1 || y+tol >= labeled.height-1 );
// }
/**
* Removes lens distortion from the found contour
*/
private void removeDistortionFromContour(List distorted , FastQueue undistorted ) {
undistorted.reset();
for (int j = 0; j < distorted.size(); j++) {
// remove distortion
Point2D_I32 p = distorted.get(j);
Point2D_I32 q = undistorted.grow();
distToUndist.compute(p.x,p.y,distortedPoint);
// round to minimize error
q.x = Math.round(distortedPoint.x);
q.y = Math.round(distortedPoint.y);
}
}
/**
* Checks to see if some part of the contour touches the image border. Most likely cropped
*/
protected final boolean touchesBorder( List contour ) {
int endX = imageWidth-1;
int endY = imageHeight-1;
for (int j = 0; j < contour.size(); j++) {
Point2D_I32 p = contour.get(j);
if( p.x == 0 || p.y == 0 || p.x == endX || p.y == endY )
{
return true;
}
}
return false;
}
public void setHelper(PolygonHelper helper) {
this.helper = helper;
}
public boolean isConvex() {
return contourToPolyline.isConvex();
}
public void setConvex(boolean convex) {
contourToPolyline.setConvex(convex);
}
public boolean isOutputClockwise() {
return outputClockwise;
}
public List getAllContours(){return contourFinder.getContours();}
public Class getInputType() {
return inputType;
}
public void setNumberOfSides( int min , int max ) {
if( min < 3 )
throw new IllegalArgumentException("The min must be >= 3");
if( max < min )
throw new IllegalArgumentException("The max must be >= the min");
this.contourToPolyline.setMinimumSides(min);
this.contourToPolyline.setMaximumSides(max);
}
public int getMinimumSides() {
return contourToPolyline.getMinimumSides();
}
public int getMaximumSides() {
return contourToPolyline.getMaximumSides();
}
public void setOutputClockwise(boolean outputClockwise) {
this.outputClockwise = outputClockwise;
}
public void setVerbose(boolean verbose) {
this.verbose = verbose;
}
public double getContourEdgeThreshold() {
return contourEdgeThreshold;
}
public void setContourEdgeThreshold(double contourEdgeThreshold) {
this.contourEdgeThreshold = contourEdgeThreshold;
}
public PixelTransform getDistToUndist() {
return distToUndist;
}
public PixelTransform getUndistToDist() {
return undistToDist;
}
/**
* Returns additional information on the polygon
*/
public FastQueue getFound() {
return foundInfo;
}
public BinaryContourFinder getContourFinder() {
return contourFinder;
}
public double getMilliContour() {
return milliContour.getAverage();
}
public double getMilliShapes() {
return milliShapes.getAverage();
}
public static class Info
{
/**
* Was it created from an external or internal contour
*/
public boolean external;
/**
* Average pixel intensity score along the polygon's edge inside and outside
*/
public double edgeInside,edgeOutside;
/**
* True if the shape's contour touches the image border
*/
public boolean contourTouchesBorder;
/**
* Boolean value for each corner being along the border. If empty then non of the corners are long the border.
* true means the corner is a border corner.
*/
public GrowQueue_B borderCorners = new GrowQueue_B();
/**
* Polygon in undistorted image pixels.
*/
public Polygon2D_F64 polygon = new Polygon2D_F64();
/**
* Polygon in the original (distorted) image pixels
*/
public Polygon2D_F64 polygonDistorted = new Polygon2D_F64();
public GrowQueue_I32 splits = new GrowQueue_I32();
/**
* Contour that the shape was fit to. The point coordinates will be in undistorted coordinates if
* an undistortion function was passed in.
*/
public ContourPacked contour;
public double computeEdgeIntensity() {
return edgeOutside-edgeInside; // black square. Outside should be a high value (white) inside low (black)
}
public boolean hasInternal() {
return contour.internalIndexes.size > 0;
}
public void reset() {
external = false;
edgeInside = edgeOutside = -1;
contourTouchesBorder = true;
borderCorners.reset();
splits.reset();
polygon.vertexes.reset();
polygonDistorted.vertexes.reset();
contour = null;
}
}
}
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