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speckle filtering added

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This commit is contained in:
Anatoly Baksheev 2010-07-29 08:50:19 +00:00
parent 63fed0f831
commit 9ac1741555
3 changed files with 166 additions and 1 deletions
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6
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -413,6 +413,12 @@ namespace cv
GpuMat out;
};
}
//! Speckle filtering - filters small connected components on diparity image.
//! It sets pixel (x,y) to newVal if it coresponds to small CC with size < maxSpeckleSize.
//! Threshold for border between CC is diffThreshold;
void filterSpeckles( Mat& img, uchar newVal, int maxSpeckleSize, uchar diffThreshold, Mat& buf);
}
#include "opencv2/gpu/matrix_operations.hpp"

2
modules/gpu/src/matrix_operations.cpp
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@ -164,7 +164,7 @@ GpuMat& GpuMat::setTo(const Scalar& s, const GpuMat& mask)
else
impl::set_to_with_mask( *this, depth(), s.val, mask, channels());
return *this;
return *this;
}

159
modules/gpu/src/speckle_filtering.cpp Normal file
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@ -0,0 +1,159 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's 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.
//
// * The name of the copyright holders may not 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 Intel Corporation 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,
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//M*/
#include "precomp.hpp"
using namespace cv;
typedef Point_<short> Point2s;
void cv::filterSpeckles( Mat& img, uchar newVal, int maxSpeckleSize, uchar maxDiff, Mat& _buf)
{
int MaxD = 1024;
int WinSz = 64;
int bufSize0 = (MaxD + 2)*sizeof(int) + (img.rows+WinSz+2)*MaxD*sizeof(int) +
(img.rows + WinSz + 2)*sizeof(int) +
(img.rows+WinSz+2)*MaxD*(WinSz+1)*sizeof(uchar) + 256;
int bufSize1 = (img.cols + 9 + 2) * sizeof(int) + 256;
int bufSz = max(bufSize0 * 1, bufSize1 * 2);
_buf.create(1, bufSz, CV_8U);
CV_Assert( img.type() == CV_8U );
int width = img.cols, height = img.rows, npixels = width*height;
size_t bufSize = npixels*(int)(sizeof(Point2s) + sizeof(int) + sizeof(uchar));
if( !_buf.isContinuous() || !_buf.data || _buf.cols*_buf.rows*_buf.elemSize() < bufSize )
_buf.create(1, bufSize, CV_8U);
uchar* buf = _buf.data;
int i, j, dstep = img.step/sizeof(uchar);
int* labels = (int*)buf;
buf += npixels*sizeof(labels[0]);
Point2s* wbuf = (Point2s*)buf;
buf += npixels*sizeof(wbuf[0]);
uchar* rtype = (uchar*)buf;
int curlabel = 0;
// clear out label assignments
memset(labels, 0, npixels*sizeof(labels[0]));
for( i = 0; i < height; i++ )
{
uchar* ds = img.ptr<uchar>(i);
int* ls = labels + width*i;
for( j = 0; j < width; j++ )
{
if( ds[j] != newVal ) // not a bad disparity
{
if( ls[j] ) // has a label, check for bad label
{
if( rtype[ls[j]] ) // small region, zero out disparity
ds[j] = (uchar)newVal;
}
// no label, assign and propagate
else
{
Point2s* ws = wbuf; // initialize wavefront
Point2s p((short)j, (short)i); // current pixel
curlabel++; // next label
int count = 0; // current region size
ls[j] = curlabel;
// wavefront propagation
while( ws >= wbuf ) // wavefront not empty
{
count++;
// put neighbors onto wavefront
uchar* dpp = &img.at<uchar>(p.y, p.x);
uchar dp = *dpp;
int* lpp = labels + width*p.y + p.x;
if( p.x < width-1 && !lpp[+1] && dpp[+1] != newVal && std::abs(dp - dpp[+1]) <= maxDiff )
{
lpp[+1] = curlabel;
*ws++ = Point2s(p.x+1, p.y);
}
if( p.x > 0 && !lpp[-1] && dpp[-1] != newVal && std::abs(dp - dpp[-1]) <= maxDiff )
{
lpp[-1] = curlabel;
*ws++ = Point2s(p.x-1, p.y);
}
if( p.y < height-1 && !lpp[+width] && dpp[+dstep] != newVal && std::abs(dp - dpp[+dstep]) <= maxDiff )
{
lpp[+width] = curlabel;
*ws++ = Point2s(p.x, p.y+1);
}
if( p.y > 0 && !lpp[-width] && dpp[-dstep] != newVal && std::abs(dp - dpp[-dstep]) <= maxDiff )
{
lpp[-width] = curlabel;
*ws++ = Point2s(p.x, p.y-1);
}
// pop most recent and propagate
// NB: could try least recent, maybe better convergence
p = *--ws;
}
// assign label type
if( count <= maxSpeckleSize ) // speckle region
{
//printf("count = %d\n", count);
rtype[ls[j]] = 1; // small region label
ds[j] = (uchar)newVal;
}
else
{
//printf("count = %d\n", count);
rtype[ls[j]] = 0; // large region label
}
}
}
}
}
}