/*
 * Copyright 2009 Stefan Gustavson (stefan.gustavson@gmail.com)
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *  1. Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 * THIS SOFTWARE IS PROVIDED BY STEFAN GUSTAVSON ''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 STEFAN GUSTAVSON 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 views and conclusions contained in the software and documentation are
 * those of the authors and should not be interpreted as representing official
 * policies, either expressed or implied, of Stefan Gustavson.
 *
 *
 * edtaa3()
 *
 * Sweep-and-update Euclidean distance transform of an
 * image. Positive pixels are treated as object pixels,
 * zero or negative pixels are treated as background.
 * An attempt is made to treat antialiased edges correctly.
 * The input image must have pixels in the range [0,1],
 * and the antialiased image should be a box-filter
 * sampling of the ideal, crisp edge.
 * If the antialias region is more than 1 pixel wide,
 * the result from this transform will be inaccurate.
 *
 * By Stefan Gustavson (stefan.gustavson@gmail.com).
 *
 * Originally written in 1994, based on a verbal
 * description of the SSED8 algorithm published in the
 * PhD dissertation of Ingemar Ragnemalm. This is his
 * algorithm, I only implemented it in C.
 *
 * Updated in 2004 to treat border pixels correctly,
 * and cleaned up the code to improve readability.
 *
 * Updated in 2009 to handle anti-aliased edges.
 *
 * Updated in 2011 to avoid a corner case infinite loop.
 *
 */
#include <math.h>


/*
 * Compute the local gradient at edge pixels using convolution filters.
 * The gradient is computed only at edge pixels. At other places in the
 * image, it is never used, and it's mostly zero anyway.
 */
void computegradient(double *img, int w, int h, double *gx, double *gy)
{
    int i,j,k;
    double glength;
#define SQRT2 1.4142136
    for(i = 1; i < h-1; i++) { // Avoid edges where the kernels would spill over
        for(j = 1; j < w-1; j++) {
            k = i*w + j;
            if((img[k]>0.0) && (img[k]<1.0)) { // Compute gradient for edge pixels only
                gx[k] = -img[k-w-1] - SQRT2*img[k-1] - img[k+w-1] + img[k-w+1] + SQRT2*img[k+1] + img[k+w+1];
                gy[k] = -img[k-w-1] - SQRT2*img[k-w] - img[k+w-1] + img[k-w+1] + SQRT2*img[k+w] + img[k+w+1];
                glength = gx[k]*gx[k] + gy[k]*gy[k];
                if(glength > 0.0) { // Avoid division by zero
                    glength = sqrt(glength);
                    gx[k]=gx[k]/glength;
                    gy[k]=gy[k]/glength;
                }
            }
        }
    }
    // TODO: Compute reasonable values for gx, gy also around the image edges.
    // (These are zero now, which reduces the accuracy for a 1-pixel wide region
    // around the image edge.) 2x2 kernels would be suitable for this.
}

/*
 * A somewhat tricky function to approximate the distance to an edge in a
 * certain pixel, with consideration to either the local gradient (gx,gy)
 * or the direction to the pixel (dx,dy) and the pixel greyscale value a.
 * The latter alternative, using (dx,dy), is the metric used by edtaa2().
 * Using a local estimate of the edge gradient (gx,gy) yields much better
 * accuracy at and near edges, and reduces the error even at distant pixels
 * provided that the gradient direction is accurately estimated.
 */
double edgedf(double gx, double gy, double a)
{
    double df, glength, temp, a1;

    if ((gx == 0) || (gy == 0)) { // Either A) gu or gv are zero, or B) both
        df = 0.5-a;  // Linear approximation is A) correct or B) a fair guess
    } else {
        glength = sqrt(gx*gx + gy*gy);
        if(glength>0) {
            gx = gx/glength;
            gy = gy/glength;
        }
        /* Everything is symmetric wrt sign and transposition,
         * so move to first octant (gx>=0, gy>=0, gx>=gy) to
         * avoid handling all possible edge directions.
         */
        gx = fabs(gx);
        gy = fabs(gy);
        if(gx<gy) {
            temp = gx;
            gx = gy;
            gy = temp;
        }
        a1 = 0.5*gy/gx;
        if (a < a1) { // 0 <= a < a1
            df = 0.5*(gx + gy) - sqrt(2.0*gx*gy*a);
        } else if (a < (1.0-a1)) { // a1 <= a <= 1-a1
            df = (0.5-a)*gx;
        } else { // 1-a1 < a <= 1
            df = -0.5*(gx + gy) + sqrt(2.0*gx*gy*(1.0-a));
        }
    }
    return df;
}

double distaa3(double *img, double *gximg, double *gyimg, int w, int c, int xc, int yc, int xi, int yi)
{
    double di, df, dx, dy, gx, gy, a;
    int closest;

    closest = c-xc-yc*w; // Index to the edge pixel pointed to from c
    a = img[closest];    // Grayscale value at the edge pixel
    gx = gximg[closest]; // X gradient component at the edge pixel
    gy = gyimg[closest]; // Y gradient component at the edge pixel

    if(a > 1.0) a = 1.0;
    if(a < 0.0) a = 0.0; // Clip grayscale values outside the range [0,1]
    if(a == 0.0) return 1000000.0; // Not an object pixel, return "very far" ("don't know yet")

    dx = (double)xi;
    dy = (double)yi;
    di = sqrt(dx*dx + dy*dy); // Length of integer vector, like a traditional EDT
    if(di==0) { // Use local gradient only at edges
        // Estimate based on local gradient only
        df = edgedf(gx, gy, a);
    } else {
        // Estimate gradient based on direction to edge (accurate for large di)
        df = edgedf(dx, dy, a);
    }
    return di + df; // Same metric as edtaa2, except at edges (where di=0)
}

// Shorthand macro: add ubiquitous parameters dist, gx, gy, img and w and call distaa3()
#define DISTAA(c,xc,yc,xi,yi) (distaa3(img, gx, gy, w, c, xc, yc, xi, yi))

void edtaa3(double *img, double *gx, double *gy, int w, int h, short *distx, short *disty, double *dist)
{
    int x, y, i, c;
    int offset_u, offset_ur, offset_r, offset_rd,
        offset_d, offset_dl, offset_l, offset_lu;
    double olddist, newdist;
    int cdistx, cdisty, newdistx, newdisty;
    int changed;
    double epsilon = 1e-3;

    /* Initialize index offsets for the current image width */
    offset_u = -w;
    offset_ur = -w+1;
    offset_r = 1;
    offset_rd = w+1;
    offset_d = w;
    offset_dl = w-1;
    offset_l = -1;
    offset_lu = -w-1;

    /* Initialize the distance images */
    for(i=0; i<w*h; i++) {
        distx[i] = 0; // At first, all pixels point to
        disty[i] = 0; // themselves as the closest known.
        if(img[i] <= 0.0)
        {
            dist[i]= 1000000.0; // Big value, means "not set yet"
        }
        else if (img[i]<1.0) {
            dist[i] = edgedf(gx[i], gy[i], img[i]); // Gradient-assisted estimate
        }
        else {
            dist[i]= 0.0; // Inside the object
        }
    }

    /* Perform the transformation */
    do
    {
        changed = 0;

        /* Scan rows, except first row */
        for(y=1; y<h; y++)
        {

            /* move index to leftmost pixel of current row */
            i = y*w;

            /* scan right, propagate distances from above & left */

            /* Leftmost pixel is special, has no left neighbors */
            olddist = dist[i];
            if(olddist > 0) // If non-zero distance or not set yet
            {
                c = i + offset_u; // Index of candidate for testing
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_ur;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }
            i++;

            /* Middle pixels have all neighbors */
            for(x=1; x<w-1; x++, i++)
            {
                olddist = dist[i];
                if(olddist <= 0) continue; // No need to update further

                c = i+offset_l;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_lu;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_u;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_ur;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }

            /* Rightmost pixel of row is special, has no right neighbors */
            olddist = dist[i];
            if(olddist > 0) // If not already zero distance
            {
                c = i+offset_l;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_lu;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_u;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx;
                newdisty = cdisty+1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }

            /* Move index to second rightmost pixel of current row. */
            /* Rightmost pixel is skipped, it has no right neighbor. */
            i = y*w + w-2;

            /* scan left, propagate distance from right */
            for(x=w-2; x>=0; x--, i--)
            {
                olddist = dist[i];
                if(olddist <= 0) continue; // Already zero distance

                c = i+offset_r;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }
        }

        /* Scan rows in reverse order, except last row */
        for(y=h-2; y>=0; y--)
        {
            /* move index to rightmost pixel of current row */
            i = y*w + w-1;

            /* Scan left, propagate distances from below & right */

            /* Rightmost pixel is special, has no right neighbors */
            olddist = dist[i];
            if(olddist > 0) // If not already zero distance
            {
                c = i+offset_d;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_dl;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }
            i--;

            /* Middle pixels have all neighbors */
            for(x=w-2; x>0; x--, i--)
            {
                olddist = dist[i];
                if(olddist <= 0) continue; // Already zero distance

                c = i+offset_r;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_rd;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_d;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_dl;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }
            /* Leftmost pixel is special, has no left neighbors */
            olddist = dist[i];
            if(olddist > 0) // If not already zero distance
            {
                c = i+offset_r;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_rd;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx-1;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    olddist=newdist;
                    changed = 1;
                }

                c = i+offset_d;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx;
                newdisty = cdisty-1;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }

            /* Move index to second leftmost pixel of current row. */
            /* Leftmost pixel is skipped, it has no left neighbor. */
            i = y*w + 1;
            for(x=1; x<w; x++, i++)
            {
                /* scan right, propagate distance from left */
                olddist = dist[i];
                if(olddist <= 0) continue; // Already zero distance

                c = i+offset_l;
                cdistx = distx[c];
                cdisty = disty[c];
                newdistx = cdistx+1;
                newdisty = cdisty;
                newdist = DISTAA(c, cdistx, cdisty, newdistx, newdisty);
                if(newdist < olddist-epsilon)
                {
                    distx[i]=newdistx;
                    disty[i]=newdisty;
                    dist[i]=newdist;
                    changed = 1;
                }
            }
        }
    }
    while(changed); // Sweep until no more updates are made

    /* The transformation is completed. */

}
