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depthComp.cpp
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depthComp.cpp
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// *****************************************************************************
/*
DepthComp : efficient depth filling appraoch built on segmentation
Requirements: depth image / segmented image
Implementation of DepthComp - Atapour-Abarghouei / Breckon, Proc. BMVC 2017.
Author : Amir Atapour-Abarghouei, amir.atapour-abarghouei@durham.ac.uk
Copyright (c) 2017 Engineering and Computing Sciences, Durham University
License : GPL - http://www.gnu.org/licenses/gpl.html
*********************************************************************************
*/
#include "depthComp.hpp"
// *****************************************************************************
DepthComp::DepthComp(){
case1 = 0;
case2 = 0;
case3 = 0;
case4 = 0;
case5 = 0;
case6 = 0;
case7 = 0;
case8 = 0;
case9 = 0;
case10 = 0;
case11 = 0;
case12 = 0;
times = 0; // this shows how many times we have run this over the image
holesExist = 0; // this is used to check if holes still exist after each run
holeFound = 0;
}
// *****************************************************************************
DepthComp::~DepthComp(){
// all deallocating is done automatically
}
// *****************************************************************************
Mat DepthComp::preProcess(Mat depthIn, const Mat& labelRszd, bool depthNormalize){
if (depthNormalize){
normalize(depthIn, depthIn, 0, 255, NORM_MINMAX);
}
depthIn.convertTo(depthIn, CV_16SC1);
filterSpeckles(depthIn, 0, 200, 1);
depthIn.convertTo(depthIn, CV_8UC1);
if (depthNormalize){
normalize(depthIn, depthIn, 0, 255, NORM_MINMAX);
}
// the goal is to remove wrong disparity values
for(int i=0; i < (depthIn.rows); i++) { // loop over the rows
for (int j = 1; j < (depthIn.cols); j++) { // loop over the column
if ((depthIn.at<uchar>(i, j + 1) == depthIn.at<uchar>(i, j - 1)) && (labelRszd.at<uchar>(i, j + 1) == labelRszd.at<uchar>(i, j - 1)) &&
(depthIn.at<uchar>(i, j + 1) != 0) && (depthIn.at<uchar>(i, j + 1) != depthIn.at<uchar>(i, j)) ) {
depthIn.at<uchar>(i, j) = 0;
}
if ((depthIn.at<uchar>(i, j + 2) == depthIn.at<uchar>(i, j - 1)) && (labelRszd.at<uchar>(i, j + 2) == labelRszd.at<uchar>(i, j - 1)) &&
(depthIn.at<uchar>(i, j + 2) != 0) && (depthIn.at<uchar>(i, j + 2) != depthIn.at<uchar>(i, j)) && (depthIn.at<uchar>(i, j) != 0) && (depthIn.at<uchar>(i, j + 1) != 0) ) {
depthIn.at<uchar>(i, j) = 0;
depthIn.at<uchar>(i, j + 1) = 0;
}
} // end of loop over the columns
} // end of loop over the rows
return depthIn;
}
// *****************************************************************************
Mat DepthComp::postProcess(Mat depthIn, const Mat& labelRszd, bool inpaintLeftOvers){
Mat mask(depthIn.rows, depthIn.cols, CV_8UC1);
mask.setTo(Scalar(0));
for(int i=0; i < (depthIn.rows); i++) { // loop over the rows
for (int j = 1; j < (depthIn.cols); j++) { // loop over the column
if (depthIn.at<uchar>(i, j) == 255) {
depthIn.at<uchar>(i, j) = 0;
}
if (depthIn.at<uchar>(i, j) == 0) {
mask.at<uchar>(i, j) = 255;
// the goal is to remove wrong disparity values
}
} // end of loop over the columns
} // end of loop over the rows
if (inpaintLeftOvers){
cv::inpaint(depthIn, mask, depthIn, 3, cv::INPAINT_TELEA);
}
return depthIn;
}
// *****************************************************************************
// *****************************************************************************
Mat DepthComp::identFillHoles(Mat depthIn, Mat labelRszd, bool logStats){
//to write time and result information to a file
ofstream myfile;
if (logStats){
myfile.open ("data.txt", ios::ate );
}
// the very main while loop to run several times with rotated image
// row-wise and then column-wise (with latter being rotation of former)
// with final secondary row-wise pass if needed
while((times == 0) || ((times == 1) && (holesExist == 1)) ||
((times == 2) && (holesExist == 2))) {
// we are running the same filling process one (more) time
times++;
// get start time
auto start = get_time::now();
// perform identification and filling of holes - one pass
depthIn = identFillHolesPass(depthIn, labelRszd);
// get end time
auto end = get_time::now();
auto diff = end - start;
// **** perform logging (file will be closed if logStats = false)
if(myfile.is_open()) {
myfile <<"********************************************************** RUN (( " << times << " )) *************************************************************\n\n";
myfile << "Important Information\n";
myfile << "For depth image and segmented image pair in the run number " << times << endl;
myfile << "\nIn the image, the number of ROWS is : " << "\t\t\t" << depthIn.rows << "\n\t\tAnd the number of COLUMNS is : " << "\t\t\t" << depthIn.cols << endl;
myfile <<"\nThe frequency of the cases in run number " << times << endl;
myfile << "\nnumber of case 1 holes = \t" << case1;
myfile << "\nnumber of case 2 holes = \t" << case2;
myfile << "\nnumber of case 3 holes = \t" << case3;
myfile << "\nnumber of case 4 holes = \t" << case4;
myfile << "\nnumber of case 5 holes = \t" << case5;
myfile << "\nnumber of case 6 holes = \t" << case6;
myfile << "\nnumber of case 7 holes = \t" << case7;
myfile << "\nnumber of case 8 holes = \t" << case8;
myfile << "\nnumber of case 9 holes = \t" << case9;
myfile << "\nnumber of case 10 holes = \t" << case10;
myfile << "\nnumber of case 11 holes = \t" << case11;
myfile << "\nnumber of case 12 holes = \t" << case12;
myfile <<"\n\nThe TIME:\n";
myfile << "Elapsed time is : " << std::chrono::duration_cast<std::chrono::milliseconds>(diff).count()<< " milliseconds " << "\n\n";
myfile <<"********************************************************** RUN (( " << times << " )) *************************************************************\n\n\n\n\n\n";
}
// **** end logging
// check to see of there are any hole pixels left in the image
for(int i=0; i < (depthIn.rows); i++) { // for loop checking rows for holes
for(int j = 0; j < (depthIn.cols); j++) { // for loop checking columns for holes
if(depthIn.at<uchar>(i,j) == 0) { // checking to see if holes remain
if (times == 1) { // the thing has been run ONCE and now we have to flip it
holesExist = 1; // this means holes still exist after the FIRST run
goto nestBreak; //goto is used to break out of a nested loop
} // end of if for when the thing has been run ONCE and we have to flip it
else if (times == 2) { // the thing has been run TWICE and flipped already so we now flip it back
holesExist = 2; // this means holes still exist after the SECOND run
goto nestBreak; //goto is used to break out of a nested loop
} // end of else of for when the thing has been run TWICE and flipped already so we now flip it back
else if (times == 3) { // the thing has been run THREE times and flipped twice already
holesExist = 3; // this means holes still exist after the SECOND run
goto nestBreak; //goto is used to break out of a nested loop
} // end of else if for the thing has been run THREE times and flipped twice already
} // end of if for checking if holes remain
} // end of for loop checking columns for holes
} // end of for loop checking rows for holes
nestBreak:
if((times == 1) && (holesExist == 0)) { // this means it has been run once and all holes are FILLED before any flipping
myfile << "process was run once only and ALL holes are filled." << endl;
} // end of else if for when it has been run once and all holes are FILLED before any flipping
else if((times == 1) && (holesExist == 1)) {
// this means it has been run once and now we must flip to do column-wise
// flipping all image clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 1);
flip(labelRszd, labelRszd, 1);
} // end of if for when it has been run once and now we must flip
else if((times == 2) && (holesExist == 2)) {
// this means it has been run twice and holes still exist and now we must
// flip again for for a secondary (final) row-wise pass
// flipping all image clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 1);
flip(labelRszd, labelRszd, 1);
} // end of else if for when it has been run twice and holes still exist and now we must flip
else if((times == 2) && (holesExist == 1)) {
// this means it has been run twice and all holes are FILLED and now we must flip back
// flipping all image counter-clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 0);
flip(labelRszd, labelRszd, 0);
} // end of else if for when it has been run twice and all holes are FILLED and now we must flip
else if((times == 3) && (holesExist == 3)) { // this means it has been run THREE and holes still exist
// flipping all image clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 1);
flip(labelRszd, labelRszd, 1);
// flipping all image clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 1);
flip(labelRszd, labelRszd, 1);
} // end of else if for when it has been run THREE and holes still exist
else if((times == 3) && (holesExist == 2)) { // this means it has been run THREE and holes still exist
// flipping all image clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 1);
flip(labelRszd, labelRszd, 1);
// flipping all image clockwise
transpose(depthIn, depthIn);
transpose(labelRszd, labelRszd);
flip(depthIn, depthIn, 1);
flip(labelRszd, labelRszd, 1);
} // end of else if for when it has been run THREE and holes still exist
}// end of the main while loop
// close logging file
if (logStats){
myfile.close();
cout << "Process Log: run-times + # filling cases saved in - \"data.txt\".\n";
}
// return final completed depth image (completion performed in place)
return depthIn;
}
// *****************************************************************************
Mat DepthComp::identFillHolesPass(Mat depthIn, const Mat& labelRszd){
int begin1; // beginning of hole in a row
int end1; // end of hole in a row
int hLen; // length of hole in a row
int cBegin1; // beginning of the sampling area
int cEnd1; // end of the sampling area
int rightInfo = 1; // this is used to show that information on the right does not include holes.
// When it is ZERO, there ARE HOLES, so the information is NOT AVAILABLE.
// When it is ONE, the are NO HOLES, so the information on the right is AVAILABLE.
int caseNo = 0; // specifies the case number as described in the notebook. When it is zero, no case number has been assigned.
double tempArray[depthIn.cols]; // this is used for temporarily holding the fillings to remove accumilating errors
// check the depth row by row until you reach a black pixel and set the variable 'begin1' as the position of the first black pixel.
// i is ROW
// j is COLUMN
for(int i=0; i < (depthIn.rows); i++) { // loop over the rows
for(int j = 0; j < (depthIn.cols); j++) { // loop over the columns
if(depthIn.at<uchar>(i,j) == 0) { // we have reached a hole in a line
//region caseIdentification
holeFound++;
begin1 = j; //beginning of the hole
if(begin1 != 0) { // when the hole does NOT begin1 in the begin1ning of the line
while ((labelRszd.at<uchar>(i, j) == labelRszd.at<uchar>(i, (j + 1))) && (depthIn.at<uchar>(i, j) == 0) && (j != (depthIn.cols - 1))) {
j++;
} // end1 of while
if ((j == (depthIn.cols - 1)) || (labelRszd.at<uchar>(i, j) != labelRszd.at<uchar>(i, j + 1))) {
// either the holes extend1s to the end1 of the line OR the object has end1ed but the hole has not.
if (depthIn.at<uchar>(i, j) == 0) { //when we have stopped on the hole
end1 = j;
hLen = end1 - begin1 + 1;
if ((begin1 - hLen) > 0) { // when there is enough information on the left of the hole
if (labelRszd.at<uchar>(i, ((begin1 - hLen) - 1)) == labelRszd.at<uchar>(i, begin1)) { // and more than enough information on the left is in the same object
caseNo = 1;
case1++;
} // end1 of if for case 1
else if (labelRszd.at<uchar>(i, ((begin1 - hLen) - 1)) != labelRszd.at<uchar>(i, begin1) &&
labelRszd.at<uchar>(i, (begin1 - hLen)) == labelRszd.at<uchar>(i, begin1)) {
// and Just enough information is in the same object
caseNo = 2;
case2++;
} // end1 of if for case 3
else if (labelRszd.at<uchar>(i, (begin1 - hLen)) != labelRszd.at<uchar>(i, begin1)) { // but ALL the information is NOT in the same object
if (labelRszd.at<uchar>(i, (begin1 - 1)) == labelRszd.at<uchar>(i, begin1)) { // there is at least one pixel on the left in the same label
caseNo = 3;
case3++;
} // end1 of if for case 3
else if (labelRszd.at<uchar>(i, (begin1 - 1)) != labelRszd.at<uchar>(i, begin1)) { // there are NO pixels on the left in the same label
caseNo = 12;
case12++;
} // end1 of if for case 12
} // end1 of else if for when ALL the information is NOT in the same object
} // end1 of if for when there is enough information on the left of the hole
else if ((begin1 - hLen) < 0) { //when there is NOT enough information on the left but some
if (labelRszd.at<uchar>(i, (begin1 - 1)) == labelRszd.at<uchar>(i, begin1)) { // there is at least one pixel on the left in the same label
caseNo = 3;
case3++;
} //end1 of if for case 3
else if (labelRszd.at<uchar>(i, (begin1 - 1)) != labelRszd.at<uchar>(i, begin1)) { // there are NO pixels on the left in the same label
caseNo = 12;
case12++;
} //end1 of if for case 12
} // end1 of if for when there is NOT enough information on the left but some
else if ((begin1 - hLen) == 0) { // when the amount of information on the left is EXACTLY the same as the length of the hole
if (labelRszd.at<uchar>(i, (begin1 - hLen)) == labelRszd.at<uchar>(i, begin1)) { // there is EXACTLY the same amount of info in the same label on the left
caseNo = 2;
case2++;
} //end1 of if for case 2
else if (labelRszd.at<uchar>(i, (begin1 - hLen)) != labelRszd.at<uchar>(i, begin1)) { // there is NOT enough information on the left in the same label
if (labelRszd.at<uchar>(i, (begin1 - 1)) == labelRszd.at<uchar>(i, begin1)) { // there is at least one pixel on the left in the same label
caseNo = 3;
case3++;
} //end1 of if for case 3
else if (labelRszd.at<uchar>(i, (begin1 - 1)) != labelRszd.at<uchar>(i, begin1)) { // there are NO pixels on the left in the same label
caseNo = 12;
case12++;
} //end1 of if for case 12
} //end1 of if for when there is NOT enough information on the left in the same label
}// end1 of else if for when the amount of information on the left is EXACTLY the same as the length of the hole
}// end1 of if for when when we have stopped on the hole
else if (depthIn.at<uchar>(i, j) != 0) { //when the hole does NOT continue to the end1 of the line, but to one pixel before the end1
end1 = j - 1;
hLen = end1 - begin1 + 1;
if ((begin1 - hLen) > 0) { // when there is enough information on the left of the hole
if ((labelRszd.at<uchar>(i, ((begin1 - hLen) - 1)) == labelRszd.at<uchar>(i, begin1)) && (labelRszd.at<uchar>(i,((begin1 - 1))) == labelRszd.at<uchar>(i,begin1))) {// and more than enough information on the left is in the same object
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = -1; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 4;
case4++;
} // end1 of if for case 4
else if(checkLeftLabel == 0) {
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = 0; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 5;
case5++;
} // end1 of if for case 5
else{
caseNo = 11;
case11++;
} // end1 of case 11
}
}// end1 of if for case 4
else if ((labelRszd.at<uchar>(i, ((begin1 - hLen) - 1)) != labelRszd.at<uchar>(i, begin1)) &&
(labelRszd.at<uchar>(i, (begin1 - hLen)) == labelRszd.at<uchar>(i, begin1)) &&
(labelRszd.at<uchar>(i,((begin1 - 1))) == labelRszd.at<uchar>(i,begin1))) { // and just enough information on the left is in the same object
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = 0; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 5;
case5++;
} // end1 of if for case 5
else{
caseNo = 11;
case11++;
} // end1 of case 11
}// end1 of if
else if ( ( (labelRszd.at<uchar>(i, ((begin1 - hLen) - 1)) == labelRszd.at<uchar>(i, begin1)) &&
(labelRszd.at<uchar>(i,((begin1 - 1))) != labelRszd.at<uchar>(i,begin1)) ) ||
((labelRszd.at<uchar>(i, (begin1 - hLen)) == labelRszd.at<uchar>(i, begin1)) &&
(labelRszd.at<uchar>(i,((begin1 - 1))) != labelRszd.at<uchar>(i,begin1)) ) ) {
// this means there are in fact no pixels available on the left
if(((end1 + hLen + 1) < depthIn.cols) && (labelRszd.at<uchar>(i,(end1 + hLen + 1)) == labelRszd.at<uchar>(i,begin1))) {
// there is more enough information on the right in the same label to fill the hole
rightInfo = 1; // we assume info on the right is available (without any holes), and then we check.
for(int rightInfoIndex = 0; rightInfoIndex < hLen + 1; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if(rightInfo == 1) { // case 8 .. nothing on the left , more ethan enough on the right
caseNo = 8;
case8++;
} // end1 of case 8
else if (rightInfo == 0) {
rightInfo = 1; // we assume info on the right is available, and then we check.
for (int rightInfoIndex = 0; rightInfoIndex < hLen; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if (rightInfo == 1) { // case 9... nothing on the left, JUST enough on the right
caseNo = 9;
case9++;
} // end1 of case 9
else if (rightInfo == 0) {
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some but less than enough on the right
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
}
}// end1 of if for when there is more enough information on the right in the same label to fill the hole
else if(((end1 + hLen + 1) < depthIn.cols) && (labelRszd.at<uchar>(i,(end1 + hLen + 1)) != labelRszd.at<uchar>(i,begin1))) {
// there is NOT MORE than enough info on the right to fill the hole
if(labelRszd.at<uchar>(i,(end1 + hLen)) == labelRszd.at<uchar>(i,begin1)) { // there is JUST enough info in the same label on the right
rightInfo = 1; // we assume info on the right is available, and then we check.
for (int rightInfoIndex = 0; rightInfoIndex < hLen; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if (rightInfo == 1) { // case 9 .. nothing on the left, JUST enough on the right
caseNo = 9;
case9++;
} // end1 of case 9
else if (rightInfo == 0) {
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some but not enough on the right
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
} // end1 of if for when there is JUST enough info on the right
else if(labelRszd.at<uchar>(i,(end1 + 1)) == labelRszd.at<uchar>(i,begin1)) { // there is at least one pixel on the right but NOT ENOUGH in the same object
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some but not enough on the right
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
else if(labelRszd.at<uchar>(i,(end1 + 1)) != labelRszd.at<uchar>(i,begin1)) { // there are NO pixels on the right in the same object
// case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
// end1 of case 12
} // end1 of else if for when there are NO pixels on the right in the same object
}// end1 of else if for when there is NOT MORE than enough info on the right to fill the hole
else if(((end1 + hLen + 1) > depthIn.cols) ) { // the information on the right is not enough
if(labelRszd.at<uchar>(i,(end1 + 1)) == labelRszd.at<uchar>(i,begin1)) { // there is at least one pixel on the right but NOT ENOUGH in the same object
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some on the right but not enough
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
else if(labelRszd.at<uchar>(i,(end1 + 1)) != labelRszd.at<uchar>(i,begin1)) { // there are NO pixels on the right in the same object
// case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
// end1 of case 12
} // end1 of else if for when there are NO pixels on the right in the same object
} // end1 of else if for when the information on the right is not enough
else if(((end1 + hLen + 1) == depthIn.cols) ) { // the information on the right is JUST enough
if(labelRszd.at<uchar>(i,(end1 + hLen)) == labelRszd.at<uchar>(i,begin1)) { // there is JUST enough info on the right in the same label
rightInfo = 1; // we assume info on the right is available, and then we check.
for (int rightInfoIndex = 0; rightInfoIndex < hLen; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if (rightInfo == 1) { // case 9 .. nothing on the left, just enough on the right
caseNo = 9;
case9++;
} // end1 of case 9
else if (rightInfo == 0) {
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some on the right but not enough
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
} // end1 of if for when there is JUST enough info on the right
else if(labelRszd.at<uchar>(i,(end1 + 1)) == labelRszd.at<uchar>(i,begin1)) { // there is at least one pixel on the right but NOT ENOUGH in the same object
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some on the right, but not enough
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
else if(labelRszd.at<uchar>(i,(end1 + 1)) != labelRszd.at<uchar>(i,begin1)) { // there are NO pixels on the right in the same object
// case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
// end1 of case 12
} // end1 of else if for when there are NO pixels on the right in the same object
} // end1 of else if for when the information on the right is JUST enough
} // end1 of else if for when there are in fact no pixels available on the left
else if (labelRszd.at<uchar>(i, (begin1 - hLen)) != labelRszd.at<uchar>(i, begin1)) { // but ALL the information is NOT in the same object
if (labelRszd.at<uchar>(i, (begin1 - 1)) == labelRszd.at<uchar>(i, begin1)) { // there is at least one pixel on the left in the same label
caseNo = 11;
case11++;
} // end1 of if for case 11
else if (labelRszd.at<uchar>(i, (begin1 - 1)) != labelRszd.at<uchar>(i, begin1)) { // there are NO pixels on the left in the same label
caseNo = 10;
case10++;
} // end1 of if for case 10
} // end1 of else if for when ALL the information is NOT in the same object
}// end1 of if for when there is enough information on the left of the hole
else if ((begin1 - hLen) < 0) { //when there is NOT enough information on the left but some
if (labelRszd.at<uchar>(i, (begin1 - 1)) == labelRszd.at<uchar>(i, begin1)) { // there is at least one pixel on the left in the same label
caseNo = 11;
case11++;
} //end1 of if for case 11
else if (labelRszd.at<uchar>(i, (begin1 - 1)) != labelRszd.at<uchar>(i, begin1)) { // there are NO pixels on the left in the same label
caseNo = 10;
case10++;
} //end1 of if for case 12
} // end1 of if for when there is NOT enough information on the left but some
else if ((begin1 - hLen) == 0) { // when the amount of information on the left is EXACTLY the same as the length of the hole
if (labelRszd.at<uchar>(i, (begin1 - hLen)) == labelRszd.at<uchar>(i, begin1)) { // there is EXACTLY the same amount of info in the same label on the left
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = 0; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 5;
case5++;
} // end1 of if for case 5
else{
caseNo = 11;
case11++;
} // end1 of case 11
} //end1 of if
else if (labelRszd.at<uchar>(i, (begin1 - hLen)) != labelRszd.at<uchar>(i, begin1)) { // there is NOT enough information on the left in the same label
if (labelRszd.at<uchar>(i, (begin1 - 1)) == labelRszd.at<uchar>(i, begin1)) { // there is at least one pixel on the left in the same label
caseNo = 11;
case11++;
} //end1 of if for case 11
else if (labelRszd.at<uchar>(i, (begin1 - 1)) != labelRszd.at<uchar>(i, begin1)) { // there are NO pixels on the left in the same label
caseNo = 10;
case10++;
} //end1 of if for case 10
} //end1 of if for when there is NOT enough information on the left in the same label
}// end1 of else if for when the amount of information on the left is EXACTLY the same as the length of the hole
}// end1 of else if for when the hole does NOT continue to the end1 of the line, but to one pixel before the end1
}// end1 of if that started after the while (when either the holes extend1s to the end1 of the line OR the object has end1ed but the hole has not..)
if(caseNo == 0) { // a condition in the "while" was not met and NO case number is assigned yet
if((depthIn.at<uchar>(i,j) != 0) && (labelRszd.at<uchar>(i,j) == labelRszd.at<uchar>(i,j+1))) { // the object has not end1ed but the hole has end1ed
// which means some stuff is available on the right
end1 = j - 1;
hLen = end1 - begin1 + 1;
if((begin1 - hLen) > 0) { // when there is enough information on the left of the hole
if((labelRszd.at<uchar>(i,((begin1 - hLen) - 1)) == labelRszd.at<uchar>(i,begin1)) && (labelRszd.at<uchar>(i,((begin1 - 1))) == labelRszd.at<uchar>(i,begin1))) {
// and more than enough information is in the same object
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = -1; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 4;
case4++;
} // end1 of if for case 4
else if(checkLeftLabel == 0) {
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = 0; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 5;
case5++;
} // end1 of if for case 5
else{
caseNo = 11;
case11++;
} // end1 of case 11
}
} // possibly and more than enough information is in the same object
else if((labelRszd.at<uchar>(i,((begin1 - hLen) - 1)) != labelRszd.at<uchar>(i,begin1)) && (labelRszd.at<uchar>(i,((begin1 - hLen))) == labelRszd.at<uchar>(i,begin1))
&& (labelRszd.at<uchar>(i,((begin1 - 1))) == labelRszd.at<uchar>(i,begin1))) {
// and JUST enough information on the left is in the same object
int checkLeftLabel = 1; // we assume the left info is all in the same label
for(int chindex = 0; chindex < hLen; chindex++) {
if((labelRszd.at<uchar>(i, begin1 - hLen + chindex) != labelRszd.at<uchar>(i, begin1)) || (depthIn.at<uchar>(i, begin1 - hLen + chindex) == 0) ) {
checkLeftLabel = 0;
}
}
if(checkLeftLabel == 1) {
caseNo = 5;
case5++;
} // end1 of if for case 5
else{
caseNo = 11;
case11++;
} // end1 of case 11
} // end1 of if
else if ( ( (labelRszd.at<uchar>(i, ((begin1 - hLen) - 1)) == labelRszd.at<uchar>(i, begin1)) &&
(labelRszd.at<uchar>(i,((begin1 - 1))) != labelRszd.at<uchar>(i,begin1)) ) ||
((labelRszd.at<uchar>(i, (begin1 - hLen)) == labelRszd.at<uchar>(i, begin1)) &&
(labelRszd.at<uchar>(i,((begin1 - 1))) != labelRszd.at<uchar>(i,begin1)) ) ) {
// this means there are in fact no pixels available on the left
if(((end1 + hLen + 1) < depthIn.cols) && (labelRszd.at<uchar>(i,(end1 + hLen + 1)) == labelRszd.at<uchar>(i,begin1))) {
// there is more enough information on the right in the same label to fill the hole
rightInfo = 1; // we assume info on the right is available (without any holes), and then we check.
for(int rightInfoIndex = 0; rightInfoIndex < hLen + 1; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if(rightInfo == 1) { // case 8 .. nothing on the left , more ethan enough on the right
caseNo = 8;
case8++;
} // end1 of case 8
else if (rightInfo == 0) {
rightInfo = 1; // we assume info on the right is available, and then we check.
for (int rightInfoIndex = 0; rightInfoIndex < hLen; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if (rightInfo == 1) { // case 9... nothing on the left, JUST enough on the right
caseNo = 9;
case9++;
} // end1 of case 9
else if (rightInfo == 0) {
if(depthIn.at<uchar>(i, (end1 + 1)) != 0) { // case 10 .. nothing on the left, some but less than enough on the right
caseNo = 10;
case10++;
} // end1 of case 10
else{ // case 12 ... nothing on the left, nothing on the right
caseNo = 12;
case12++;
} // end1 of case 12
} // end1 of last else if
}
}// end1 of if for when there is more enough information on the right in the same label to fill the hole
else if(((end1 + hLen + 1) < depthIn.cols) && (labelRszd.at<uchar>(i,(end1 + hLen + 1)) != labelRszd.at<uchar>(i,begin1))) {
// there is NOT MORE than enough info on the right to fill the hole
if(labelRszd.at<uchar>(i,(end1 + hLen)) == labelRszd.at<uchar>(i,begin1)) { // there is JUST enough info in the same label on the right
rightInfo = 1; // we assume info on the right is available, and then we check.
for (int rightInfoIndex = 0; rightInfoIndex < hLen; rightInfoIndex++) {
if ((depthIn.at<uchar>(i, (end1 + 1 + rightInfoIndex)) == 0) || (labelRszd.at<uchar>(i, (end1 + 1 + rightInfoIndex)) != labelRszd.at<uchar>(i, (begin1)) ) ) {
rightInfo = 0;
}
}
if (rightInfo == 1) { // case 9 .. nothing on the left, JUST enough on the right
caseNo = 9;
case9++;
} // end1 of case 9
else if (rightInfo == 0) {