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chamfermatching.cpp
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1406 lines (1109 loc) · 41.4 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008-2010, Willow Garage, Inc.
* All rights reserved.
*
* 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.
* * Neither the name of the Willow Garage nor the names of its
* contributors may 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
* COPYRIGHT OWNER OR 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.
*********************************************************************/
//
// The original code was written by
// Marius Muja
// and later modified and prepared
// for integration into OpenCV by
// Antonella Cascitelli,
// Marco Di Stefano and
// Stefano Fabri
// from Univ. of Rome
//
#include "precomp.hpp"
#include "opencv2/opencv_modules.hpp"
#ifdef HAVE_OPENCV_HIGHGUI
# include "opencv2/highgui/highgui.hpp"
#endif
#include <iostream>
#include <queue>
namespace cv
{
using std::queue;
typedef std::pair<int,int> coordinate_t;
typedef float orientation_t;
typedef std::vector<coordinate_t> template_coords_t;
typedef std::vector<orientation_t> template_orientations_t;
typedef std::pair<Point, float> location_scale_t;
class ChamferMatcher
{
private:
class Matching;
int max_matches_;
float min_match_distance_;
///////////////////////// Image iterators ////////////////////////////
class ImageIterator
{
public:
virtual ~ImageIterator() {}
virtual bool hasNext() const = 0;
virtual location_scale_t next() = 0;
};
class ImageRange
{
public:
virtual ImageIterator* iterator() const = 0;
virtual ~ImageRange() {}
};
// Sliding window
class SlidingWindowImageRange : public ImageRange
{
int width_;
int height_;
int x_step_;
int y_step_;
int scales_;
float min_scale_;
float max_scale_;
public:
SlidingWindowImageRange(int width, int height, int x_step = 3, int y_step = 3, int _scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
width_(width), height_(height), x_step_(x_step),y_step_(y_step), scales_(_scales), min_scale_(min_scale), max_scale_(max_scale)
{
}
ImageIterator* iterator() const;
};
class LocationImageRange : public ImageRange
{
const std::vector<Point>& locations_;
int scales_;
float min_scale_;
float max_scale_;
LocationImageRange(const LocationImageRange&);
LocationImageRange& operator=(const LocationImageRange&);
public:
LocationImageRange(const std::vector<Point>& locations, int _scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
locations_(locations), scales_(_scales), min_scale_(min_scale), max_scale_(max_scale)
{
}
ImageIterator* iterator() const
{
return new LocationImageIterator(locations_, scales_, min_scale_, max_scale_);
}
};
class LocationScaleImageRange : public ImageRange
{
const std::vector<Point>& locations_;
const std::vector<float>& scales_;
LocationScaleImageRange(const LocationScaleImageRange&);
LocationScaleImageRange& operator=(const LocationScaleImageRange&);
public:
LocationScaleImageRange(const std::vector<Point>& locations, const std::vector<float>& _scales) :
locations_(locations), scales_(_scales)
{
assert(locations.size()==_scales.size());
}
ImageIterator* iterator() const
{
return new LocationScaleImageIterator(locations_, scales_);
}
};
public:
/**
* Class that represents a template for chamfer matching.
*/
class Template
{
friend class ChamferMatcher::Matching;
friend class ChamferMatcher;
public:
std::vector<Template*> scaled_templates;
std::vector<int> addr;
int addr_width;
float scale;
template_coords_t coords;
template_orientations_t orientations;
Size size;
Point center;
public:
Template() : addr_width(-1)
{
}
Template(Mat& edge_image, float scale_ = 1);
~Template()
{
for (size_t i=0;i<scaled_templates.size();++i) {
delete scaled_templates[i];
}
scaled_templates.clear();
coords.clear();
orientations.clear();
}
void show() const;
private:
/**
* Resizes a template
*
* @param scale Scale to be resized to
*/
Template* rescale(float scale);
std::vector<int>& getTemplateAddresses(int width);
};
/**
* Used to represent a matching result.
*/
class Match
{
public:
float cost;
Point offset;
const Template* tpl;
};
typedef std::vector<Match> Matches;
private:
/**
* Implements the chamfer matching algorithm on images taking into account both distance from
* the template pixels to the nearest pixels and orientation alignment between template and image
* contours.
*/
class Matching
{
float truncate_;
bool use_orientation_;
std::vector<Template*> templates;
public:
Matching(bool use_orientation = true, float _truncate = 10) : truncate_(_truncate), use_orientation_(use_orientation)
{
}
~Matching()
{
for (size_t i = 0; i<templates.size(); i++) {
delete templates[i];
}
}
/**
* Add a template to the detector from an edge image.
* @param templ An edge image
*/
void addTemplateFromImage(Mat& templ, float scale = 1.0);
/**
* Run matching using an edge image.
* @param edge_img Edge image
* @return a match object
*/
ChamferMatcher::Matches* matchEdgeImage(Mat& edge_img, const ImageRange& range, float orientation_weight = 0.5, int max_matches = 20, float min_match_distance = 10.0);
void addTemplate(Template& template_);
private:
float orientation_diff(float o1, float o2)
{
return fabs(o1-o2);
}
/**
* Computes the chamfer matching cost for one position in the target image.
* @param offset Offset where to compute cost
* @param dist_img Distance transform image.
* @param orientation_img Orientation image.
* @param tpl Template
* @param templ_orientations Orientations of the target points.
* @return matching result
*/
ChamferMatcher::Match* localChamferDistance(Point offset, Mat& dist_img, Mat& orientation_img, Template* tpl, float orientation_weight);
private:
/**
* Matches all templates.
* @param dist_img Distance transform image.
* @param orientation_img Orientation image.
*/
ChamferMatcher::Matches* matchTemplates(Mat& dist_img, Mat& orientation_img, const ImageRange& range, float orientation_weight);
void computeDistanceTransform(Mat& edges_img, Mat& dist_img, Mat& annotate_img, float truncate_dt, float a, float b);
void computeEdgeOrientations(Mat& edge_img, Mat& orientation_img);
void fillNonContourOrientations(Mat& annotated_img, Mat& orientation_img);
public:
/**
* Finds a contour in an edge image. The original image is altered by removing the found contour.
* @param templ_img Edge image
* @param coords Coordinates forming the contour.
* @return True while a contour is still found in the image.
*/
static bool findContour(Mat& templ_img, template_coords_t& coords);
/**
* Computes contour points orientations using the approach from:
*
* Matas, Shao and Kittler - Estimation of Curvature and Tangent Direction by
* Median Filtered Differencing
*
* @param coords Contour points
* @param orientations Contour points orientations
*/
static void findContourOrientations(const template_coords_t& coords, template_orientations_t& orientations);
/**
* Computes the angle of a line segment.
*
* @param a One end of the line segment
* @param b The other end.
* @param dx
* @param dy
* @return Angle in radians.
*/
static float getAngle(coordinate_t a, coordinate_t b, int& dx, int& dy);
/**
* Finds a point in the image from which to start contour following.
* @param templ_img
* @param p
* @return
*/
static bool findFirstContourPoint(Mat& templ_img, coordinate_t& p);
/**
* Method that extracts a single continuous contour from an image given a starting point.
* When it extracts the contour it tries to maintain the same direction (at a T-join for example).
*
* @param templ_
* @param coords
* @param direction
*/
static void followContour(Mat& templ_img, template_coords_t& coords, int direction);
};
class LocationImageIterator : public ImageIterator
{
const std::vector<Point>& locations_;
size_t iter_;
int scales_;
float min_scale_;
float max_scale_;
float scale_;
float scale_step_;
int scale_cnt_;
bool has_next_;
LocationImageIterator(const LocationImageIterator&);
LocationImageIterator& operator=(const LocationImageIterator&);
public:
LocationImageIterator(const std::vector<Point>& locations, int _scales, float min_scale, float max_scale);
bool hasNext() const {
return has_next_;
}
location_scale_t next();
};
class LocationScaleImageIterator : public ImageIterator
{
const std::vector<Point>& locations_;
const std::vector<float>& scales_;
size_t iter_;
bool has_next_;
LocationScaleImageIterator(const LocationScaleImageIterator&);
LocationScaleImageIterator& operator=(const LocationScaleImageIterator&);
public:
LocationScaleImageIterator(const std::vector<Point>& locations, const std::vector<float>& _scales) :
locations_(locations), scales_(_scales)
{
assert(locations.size()==_scales.size());
reset();
}
void reset()
{
iter_ = 0;
has_next_ = (locations_.size()==0 ? false : true);
}
bool hasNext() const {
return has_next_;
}
location_scale_t next();
};
class SlidingWindowImageIterator : public ImageIterator
{
int x_;
int y_;
float scale_;
float scale_step_;
int scale_cnt_;
bool has_next_;
int width_;
int height_;
int x_step_;
int y_step_;
int scales_;
float min_scale_;
float max_scale_;
public:
SlidingWindowImageIterator(int width, int height, int x_step, int y_step, int scales, float min_scale, float max_scale);
bool hasNext() const {
return has_next_;
}
location_scale_t next();
};
int count;
Matches matches;
int pad_x;
int pad_y;
int scales;
float minScale;
float maxScale;
float orientation_weight;
float truncate;
Matching * chamfer_;
public:
ChamferMatcher(int _max_matches = 20, float _min_match_distance = 1.0, int _pad_x = 3,
int _pad_y = 3, int _scales = 5, float _minScale = 0.6, float _maxScale = 1.6,
float _orientation_weight = 0.5, float _truncate = 20)
{
max_matches_ = _max_matches;
min_match_distance_ = _min_match_distance;
pad_x = _pad_x;
pad_y = _pad_y;
scales = _scales;
minScale = _minScale;
maxScale = _maxScale;
orientation_weight = _orientation_weight;
truncate = _truncate;
count = 0;
matches.resize(max_matches_);
chamfer_ = new Matching(true);
}
~ChamferMatcher()
{
delete chamfer_;
}
void showMatch(Mat& img, int index = 0);
void showMatch(Mat& img, Match match_);
const Matches& matching(Template&, Mat&);
private:
ChamferMatcher(const ChamferMatcher&);
ChamferMatcher& operator=(const ChamferMatcher&);
void addMatch(float cost, Point offset, const Template* tpl);
};
///////////////////// implementation ///////////////////////////
ChamferMatcher::SlidingWindowImageIterator::SlidingWindowImageIterator( int width,
int height,
int x_step = 3,
int y_step = 3,
int _scales = 5,
float min_scale = 0.6,
float max_scale = 1.6) :
width_(width),
height_(height),
x_step_(x_step),
y_step_(y_step),
scales_(_scales),
min_scale_(min_scale),
max_scale_(max_scale)
{
x_ = 0;
y_ = 0;
scale_cnt_ = 0;
scale_ = min_scale_;
has_next_ = true;
scale_step_ = (max_scale_-min_scale_)/scales_;
}
location_scale_t ChamferMatcher::SlidingWindowImageIterator::next()
{
location_scale_t next_val = std::make_pair(Point(x_,y_),scale_);
x_ += x_step_;
if (x_ >= width_) {
x_ = 0;
y_ += y_step_;
if (y_ >= height_) {
y_ = 0;
scale_ += scale_step_;
scale_cnt_++;
if (scale_cnt_ == scales_) {
has_next_ = false;
scale_cnt_ = 0;
scale_ = min_scale_;
}
}
}
return next_val;
}
ChamferMatcher::ImageIterator* ChamferMatcher::SlidingWindowImageRange::iterator() const
{
return new SlidingWindowImageIterator(width_, height_, x_step_, y_step_, scales_, min_scale_, max_scale_);
}
ChamferMatcher::LocationImageIterator::LocationImageIterator(const std::vector<Point>& locations,
int _scales = 5,
float min_scale = 0.6,
float max_scale = 1.6) :
locations_(locations),
scales_(_scales),
min_scale_(min_scale),
max_scale_(max_scale)
{
iter_ = 0;
scale_cnt_ = 0;
scale_ = min_scale_;
has_next_ = (locations_.size()==0 ? false : true);
scale_step_ = (max_scale_-min_scale_)/scales_;
}
location_scale_t ChamferMatcher::LocationImageIterator:: next()
{
location_scale_t next_val = std::make_pair(locations_[iter_],scale_);
iter_ ++;
if (iter_==locations_.size()) {
iter_ = 0;
scale_ += scale_step_;
scale_cnt_++;
if (scale_cnt_ == scales_) {
has_next_ = false;
scale_cnt_ = 0;
scale_ = min_scale_;
}
}
return next_val;
}
location_scale_t ChamferMatcher::LocationScaleImageIterator::next()
{
location_scale_t next_val = std::make_pair(locations_[iter_],scales_[iter_]);
iter_ ++;
if (iter_==locations_.size()) {
iter_ = 0;
has_next_ = false;
}
return next_val;
}
bool ChamferMatcher::Matching::findFirstContourPoint(Mat& templ_img, coordinate_t& p)
{
for (int y=0;y<templ_img.rows;++y) {
for (int x=0;x<templ_img.cols;++x) {
if (templ_img.at<uchar>(y,x)!=0) {
p.first = x;
p.second = y;
return true;
}
}
}
return false;
}
void ChamferMatcher::Matching::followContour(Mat& templ_img, template_coords_t& coords, int direction = -1)
{
const int dir[][2] = { {-1,-1}, {-1,0}, {-1,1}, {0,1}, {1,1}, {1,0}, {1,-1}, {0,-1} };
coordinate_t next;
unsigned char ptr;
assert (direction==-1 || !coords.empty());
coordinate_t crt = coords.back();
// mark the current pixel as visited
templ_img.at<uchar>(crt.second,crt.first) = 0;
if (direction==-1) {
for (int j = 0; j<7; ++j) {
next.first = crt.first + dir[j][1];
next.second = crt.second + dir[j][0];
if (next.first >= 0 && next.first < templ_img.cols &&
next.second >= 0 && next.second < templ_img.rows){
ptr = templ_img.at<uchar>(next.second, next.first);
if (ptr!=0) {
coords.push_back(next);
followContour(templ_img, coords,j);
// try to continue contour in the other direction
reverse(coords.begin(), coords.end());
followContour(templ_img, coords, (j+4)%8);
break;
}
}
}
}
else {
int k = direction;
int k_cost = 3;
next.first = crt.first + dir[k][1];
next.second = crt.second + dir[k][0];
if (next.first >= 0 && next.first < templ_img.cols &&
next.second >= 0 && next.second < templ_img.rows){
ptr = templ_img.at<uchar>(next.second, next.first);
if (ptr!=0) {
k_cost = std::abs(dir[k][1]) + std::abs(dir[k][0]);
}
int p = k;
int n = k;
for (int j = 0 ;j<3; ++j) {
p = (p + 7) % 8;
n = (n + 1) % 8;
next.first = crt.first + dir[p][1];
next.second = crt.second + dir[p][0];
if (next.first >= 0 && next.first < templ_img.cols &&
next.second >= 0 && next.second < templ_img.rows){
ptr = templ_img.at<uchar>(next.second, next.first);
if (ptr!=0) {
int p_cost = std::abs(dir[p][1]) + std::abs(dir[p][0]);
if (p_cost<k_cost) {
k_cost = p_cost;
k = p;
}
}
next.first = crt.first + dir[n][1];
next.second = crt.second + dir[n][0];
if (next.first >= 0 && next.first < templ_img.cols &&
next.second >= 0 && next.second < templ_img.rows){
ptr = templ_img.at<uchar>(next.second, next.first);
if (ptr!=0) {
int n_cost = std::abs(dir[n][1]) + std::abs(dir[n][0]);
if (n_cost<k_cost) {
k_cost = n_cost;
k = n;
}
}
}
}
}
if (k_cost!=3) {
next.first = crt.first + dir[k][1];
next.second = crt.second + dir[k][0];
if (next.first >= 0 && next.first < templ_img.cols &&
next.second >= 0 && next.second < templ_img.rows) {
coords.push_back(next);
followContour(templ_img, coords, k);
}
}
}
}
}
bool ChamferMatcher::Matching::findContour(Mat& templ_img, template_coords_t& coords)
{
coordinate_t start_point;
bool found = findFirstContourPoint(templ_img,start_point);
if (found) {
coords.push_back(start_point);
followContour(templ_img, coords);
return true;
}
return false;
}
float ChamferMatcher::Matching::getAngle(coordinate_t a, coordinate_t b, int& dx, int& dy)
{
dx = b.first-a.first;
dy = -(b.second-a.second); // in image coordinated Y axis points downward
float angle = atan2((float)dy,(float)dx);
if (angle<0) {
angle+=(float)CV_PI;
}
return angle;
}
void ChamferMatcher::Matching::findContourOrientations(const template_coords_t& coords, template_orientations_t& orientations)
{
const int M = 5;
int coords_size = (int)coords.size();
std::vector<float> angles(2*M);
orientations.insert(orientations.begin(), coords_size, float(-3*CV_PI)); // mark as invalid in the beginning
if (coords_size<2*M+1) { // if contour not long enough to estimate orientations, abort
return;
}
for (int i=M;i<coords_size-M;++i) {
coordinate_t crt = coords[i];
coordinate_t other;
int k = 0;
int dx, dy;
// compute previous M angles
for (int j=M;j>0;--j) {
other = coords[i-j];
angles[k++] = getAngle(other,crt, dx, dy);
}
// compute next M angles
for (int j=1;j<=M;++j) {
other = coords[i+j];
angles[k++] = getAngle(crt, other, dx, dy);
}
// get the middle two angles
std::nth_element(angles.begin(), angles.begin()+M-1, angles.end());
std::nth_element(angles.begin()+M-1, angles.begin()+M, angles.end());
// sort(angles.begin(), angles.end());
// average them to compute tangent
orientations[i] = (angles[M-1]+angles[M])/2;
}
}
//////////////////////// Template /////////////////////////////////////
ChamferMatcher::Template::Template(Mat& edge_image, float scale_) : addr_width(-1), scale(scale_)
{
template_coords_t local_coords;
template_orientations_t local_orientations;
while (ChamferMatcher::Matching::findContour(edge_image, local_coords)) {
ChamferMatcher::Matching::findContourOrientations(local_coords, local_orientations);
coords.insert(coords.end(), local_coords.begin(), local_coords.end());
orientations.insert(orientations.end(), local_orientations.begin(), local_orientations.end());
local_coords.clear();
local_orientations.clear();
}
size = edge_image.size();
Point min, max;
min.x = size.width;
min.y = size.height;
max.x = 0;
max.y = 0;
center = Point(0,0);
for (size_t i=0;i<coords.size();++i) {
center.x += coords[i].first;
center.y += coords[i].second;
if (min.x>coords[i].first) min.x = coords[i].first;
if (min.y>coords[i].second) min.y = coords[i].second;
if (max.x<coords[i].first) max.x = coords[i].first;
if (max.y<coords[i].second) max.y = coords[i].second;
}
size.width = max.x - min.x;
size.height = max.y - min.y;
int coords_size = (int)coords.size();
center.x /= MAX(coords_size, 1);
center.y /= MAX(coords_size, 1);
for (int i=0;i<coords_size;++i) {
coords[i].first -= center.x;
coords[i].second -= center.y;
}
}
vector<int>& ChamferMatcher::Template::getTemplateAddresses(int width)
{
if (addr_width!=width) {
addr.resize(coords.size());
addr_width = width;
for (size_t i=0; i<coords.size();++i) {
addr[i] = coords[i].second*width+coords[i].first;
}
}
return addr;
}
/**
* Resizes a template
*
* @param scale Scale to be resized to
*/
ChamferMatcher::Template* ChamferMatcher::Template::rescale(float new_scale)
{
if (fabs(scale-new_scale)<1e-6) return this;
for (size_t i=0;i<scaled_templates.size();++i) {
if (fabs(scaled_templates[i]->scale-new_scale)<1e-6) {
return scaled_templates[i];
}
}
float scale_factor = new_scale/scale;
Template* tpl = new Template();
tpl->scale = new_scale;
tpl->center.x = int(center.x*scale_factor+0.5);
tpl->center.y = int(center.y*scale_factor+0.5);
tpl->size.width = int(size.width*scale_factor+0.5);
tpl->size.height = int(size.height*scale_factor+0.5);
tpl->coords.resize(coords.size());
tpl->orientations.resize(orientations.size());
for (size_t i=0;i<coords.size();++i) {
tpl->coords[i].first = int(coords[i].first*scale_factor+0.5);
tpl->coords[i].second = int(coords[i].second*scale_factor+0.5);
tpl->orientations[i] = orientations[i];
}
scaled_templates.push_back(tpl);
return tpl;
}
void ChamferMatcher::Template::show() const
{
int pad = 50;
//Attention size is not correct
Mat templ_color (Size(size.width+(pad*2), size.height+(pad*2)), CV_8UC3);
templ_color.setTo(0);
for (size_t i=0;i<coords.size();++i) {
int x = center.x+coords[i].first+pad;
int y = center.y+coords[i].second+pad;
templ_color.at<Vec3b>(y,x)[1]=255;
//CV_PIXEL(unsigned char, templ_color,x,y)[1] = 255;
if (i%3==0) {
if (orientations[i] < -CV_PI) {
continue;
}
Point p1;
p1.x = x;
p1.y = y;
Point p2;
p2.x = x + pad*(int)(sin(orientations[i])*100)/100;
p2.y = y + pad*(int)(cos(orientations[i])*100)/100;
line(templ_color, p1,p2, CV_RGB(255,0,0));
}
}
circle(templ_color,Point(center.x + pad, center.y + pad),1,CV_RGB(0,255,0));
#ifdef HAVE_OPENCV_HIGHGUI
namedWindow("templ",1);
imshow("templ",templ_color);
cvWaitKey(0);
#else
CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without GUI support");
#endif
templ_color.release();
}
//////////////////////// Matching /////////////////////////////////////
void ChamferMatcher::Matching::addTemplateFromImage(Mat& templ, float scale)
{
Template* cmt = new Template(templ, scale);
templates.clear();
templates.push_back(cmt);
cmt->show();
}
void ChamferMatcher::Matching::addTemplate(Template& template_){
templates.clear();
templates.push_back(&template_);
}
/**
* Alternative version of computeDistanceTransform, will probably be used to compute distance
* transform annotated with edge orientation.
*/
void ChamferMatcher::Matching::computeDistanceTransform(Mat& edges_img, Mat& dist_img, Mat& annotate_img, float truncate_dt, float a = 1.0, float b = 1.5)
{
int d[][2] = { {-1,-1}, { 0,-1}, { 1,-1},
{-1,0}, { 1,0},
{-1,1}, { 0,1}, { 1,1} };
Size s = edges_img.size();
int w = s.width;
int h = s.height;
// set distance to the edge pixels to 0 and put them in the queue
std::queue<std::pair<int,int> > q;
for (int y=0;y<h;++y) {
for (int x=0;x<w;++x) {
// initialize
annotate_img.at<Vec2i>(y,x)[0]=x;
annotate_img.at<Vec2i>(y,x)[1]=y;
uchar edge_val = edges_img.at<uchar>(y,x);
if( (edge_val!=0) ) {
q.push(std::make_pair(x,y));
dist_img.at<float>(y,x)= 0;
}
else {
dist_img.at<float>(y,x)=-1;
}
}
}
// breadth first computation of distance transform
std::pair<int,int> crt;
while (!q.empty()) {
crt = q.front();
q.pop();
int x = crt.first;
int y = crt.second;
float dist_orig = dist_img.at<float>(y,x);
float dist;
for (size_t i=0;i<sizeof(d)/sizeof(d[0]);++i) {
int nx = x + d[i][0];
int ny = y + d[i][1];
if (nx<0 || ny<0 || nx>=w || ny>=h) continue;