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changed mean shift procedure a little

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This commit is contained in:
Alexey Spizhevoy 2010-10-11 14:25:30 +00:00
parent 3e840cb798
commit adf7cc20b7
3 changed files with 125 additions and 55 deletions
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4
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -469,6 +469,10 @@ namespace cv
CV_EXPORTS void meanShiftFiltering(const GpuMat& src, GpuMat& dst, int sp, int sr,
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
//! Does mean shift procedure on GPU.
CV_EXPORTS void meanShiftProc(const GpuMat& src, GpuMat& dstr, GpuMat& dstsp, int sp, int sr,
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
//! Does coloring of disparity image: [0..ndisp) -> [0..240, 1, 1] in HSV.
//! Supported types of input disparity: CV_8U, CV_16S.
//! Output disparity has CV_8UC4 type in BGRA format (alpha = 255).

147
modules/gpu/src/cuda/imgproc.cu
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@ -163,6 +163,71 @@ namespace imgproc
{
texture<uchar4, 2> tex_meanshift;
__device__ short2 do_mean_shift(int x0, int y0, unsigned char* out,
int out_step, int cols, int rows,
int sp, int sr, int maxIter, float eps)
{
int isr2 = sr*sr;
uchar4 c = tex2D(tex_meanshift, x0, y0 );
// iterate meanshift procedure
for( int iter = 0; iter < maxIter; iter++ )
{
int count = 0;
int s0 = 0, s1 = 0, s2 = 0, sx = 0, sy = 0;
float icount;
//mean shift: process pixels in window (p-sigmaSp)x(p+sigmaSp)
int minx = x0-sp;
int miny = y0-sp;
int maxx = x0+sp;
int maxy = y0+sp;
for( int y = miny; y <= maxy; y++)
{
int rowCount = 0;
for( int x = minx; x <= maxx; x++ )
{
uchar4 t = tex2D( tex_meanshift, x, y );
int norm2 = (t.x - c.x) * (t.x - c.x) + (t.y - c.y) * (t.y - c.y) + (t.z - c.z) * (t.z - c.z);
if( norm2 <= isr2 )
{
s0 += t.x; s1 += t.y; s2 += t.z;
sx += x; rowCount++;
}
}
count += rowCount;
sy += y*rowCount;
}
if( count == 0 )
break;
icount = 1.f/count;
int x1 = __float2int_rz(sx*icount);
int y1 = __float2int_rz(sy*icount);
s0 = __float2int_rz(s0*icount);
s1 = __float2int_rz(s1*icount);
s2 = __float2int_rz(s2*icount);
int norm2 = (s0 - c.x) * (s0 - c.x) + (s1 - c.y) * (s1 - c.y) + (s2 - c.z) * (s2 - c.z);
bool stopFlag = (x0 == x1 && y0 == y1) || (abs(x1-x0) + abs(y1-y0) + norm2 <= eps);
x0 = x1; y0 = y1;
c.x = s0; c.y = s1; c.z = s2;
if( stopFlag )
break;
}
int base = (blockIdx.y * blockDim.y + threadIdx.y) * out_step + (blockIdx.x * blockDim.x + threadIdx.x) * 4 * sizeof(uchar);
*(uchar4*)(out + base) = c;
return make_short2((short)x0, (short)y0);
}
extern "C" __global__ void meanshift_kernel( unsigned char* out, int out_step, int cols, int rows,
int sp, int sr, int maxIter, float eps )
{
@ -170,63 +235,21 @@ namespace imgproc
int y0 = blockIdx.y * blockDim.y + threadIdx.y;
if( x0 < cols && y0 < rows )
{
int isr2 = sr*sr;
uchar4 c = tex2D(tex_meanshift, x0, y0 );
// iterate meanshift procedure
for( int iter = 0; iter < maxIter; iter++ )
{
int count = 0;
int s0 = 0, s1 = 0, s2 = 0, sx = 0, sy = 0;
float icount;
do_mean_shift(x0, y0, out, out_step, cols, rows, sp, sr, maxIter, eps);
}
//mean shift: process pixels in window (p-sigmaSp)x(p+sigmaSp)
int minx = x0-sp;
int miny = y0-sp;
int maxx = x0+sp;
int maxy = y0+sp;
extern "C" __global__ void meanshiftproc_kernel( unsigned char* outr, int outrstep,
unsigned char* outsp, int outspstep,
int cols, int rows,
int sp, int sr, int maxIter, float eps )
{
int x0 = blockIdx.x * blockDim.x + threadIdx.x;
int y0 = blockIdx.y * blockDim.y + threadIdx.y;
for( int y = miny; y <= maxy; y++)
{
int rowCount = 0;
for( int x = minx; x <= maxx; x++ )
{
uchar4 t = tex2D( tex_meanshift, x, y );
int norm2 = (t.x - c.x) * (t.x - c.x) + (t.y - c.y) * (t.y - c.y) + (t.z - c.z) * (t.z - c.z);
if( norm2 <= isr2 )
{
s0 += t.x; s1 += t.y; s2 += t.z;
sx += x; rowCount++;
}
}
count += rowCount;
sy += y*rowCount;
}
if( count == 0 )
break;
icount = 1.f/count;
int x1 = __float2int_rz(sx*icount);
int y1 = __float2int_rz(sy*icount);
s0 = __float2int_rz(s0*icount);
s1 = __float2int_rz(s1*icount);
s2 = __float2int_rz(s2*icount);
int norm2 = (s0 - c.x) * (s0 - c.x) + (s1 - c.y) * (s1 - c.y) + (s2 - c.z) * (s2 - c.z);
bool stopFlag = (x0 == x1 && y0 == y1) || (abs(x1-x0) + abs(y1-y0) + norm2 <= eps);
x0 = x1; y0 = y1;
c.x = s0; c.y = s1; c.z = s2;
if( stopFlag )
break;
}
int base = (blockIdx.y * blockDim.y + threadIdx.y) * out_step + (blockIdx.x * blockDim.x + threadIdx.x) * 4 * sizeof(uchar);
*(uchar4*)(out + base) = c;
if( x0 < cols && y0 < rows )
{
int basesp = (blockIdx.y * blockDim.y + threadIdx.y) * outspstep + (blockIdx.x * blockDim.x + threadIdx.x) * 2 * sizeof(short);
*(short2*)(outsp + basesp) = do_mean_shift(x0, y0, outr, outrstep, cols, rows, sp, sr, maxIter, eps);
}
}
}
@ -247,6 +270,20 @@ namespace cv { namespace gpu { namespace improc
cudaSafeCall( cudaThreadSynchronize() );
cudaSafeCall( cudaUnbindTexture( imgproc::tex_meanshift ) );
}
extern "C" void meanShiftProc_gpu(const DevMem2D& src, DevMem2D dstr, DevMem2D dstsp, int sp, int sr, int maxIter, float eps)
{
dim3 grid(1, 1, 1);
dim3 threads(32, 16, 1);
grid.x = divUp(src.cols, threads.x);
grid.y = divUp(src.rows, threads.y);
cudaChannelFormatDesc desc = cudaCreateChannelDesc<uchar4>();
cudaSafeCall( cudaBindTexture2D( 0, imgproc::tex_meanshift, src.ptr, desc, src.cols, src.rows, src.step ) );
imgproc::meanshiftproc_kernel<<< grid, threads >>>( dstr.ptr, dstr.step, dstsp.ptr, dstsp.step, dstr.cols, dstr.rows, sp, sr, maxIter, eps );
cudaSafeCall( cudaThreadSynchronize() );
cudaSafeCall( cudaUnbindTexture( imgproc::tex_meanshift ) );
}
}}}
/////////////////////////////////// drawColorDisp ///////////////////////////////////////////////

29
modules/gpu/src/imgproc_gpu.cpp
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@ -49,6 +49,7 @@ using namespace cv::gpu;
void cv::gpu::remap(const GpuMat&, GpuMat&, const GpuMat&, const GpuMat&){ throw_nogpu(); }
void cv::gpu::meanShiftFiltering(const GpuMat&, GpuMat&, int, int, TermCriteria) { throw_nogpu(); }
void cv::gpu::meanShiftProc(const GpuMat&, GpuMat&, GpuMat&, int, int, TermCriteria) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, const Stream&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D(const GpuMat&, GpuMat&, const Mat&) { throw_nogpu(); }
@ -74,6 +75,7 @@ namespace cv { namespace gpu
void remap_gpu_3c(const DevMem2D& src, const DevMem2Df& xmap, const DevMem2Df& ymap, DevMem2D dst);
extern "C" void meanShiftFiltering_gpu(const DevMem2D& src, DevMem2D dst, int sp, int sr, int maxIter, float eps);
extern "C" void meanShiftProc_gpu(const DevMem2D& src, DevMem2D dstr, DevMem2D dstsp, int sp, int sr, int maxIter, float eps);
void drawColorDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream);
void drawColorDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream);
@ -163,6 +165,33 @@ void cv::gpu::meanShiftFiltering(const GpuMat& src, GpuMat& dst, int sp, int sr,
improc::meanShiftFiltering_gpu(src, dst, sp, sr, maxIter, eps);
}
////////////////////////////////////////////////////////////////////////
// meanShiftProc_GPU
void cv::gpu::meanShiftProc(const GpuMat& src, GpuMat& dstr, GpuMat& dstsp, int sp, int sr, TermCriteria criteria)
{
if( src.empty() )
CV_Error( CV_StsBadArg, "The input image is empty" );
if( src.depth() != CV_8U || src.channels() != 4 )
CV_Error( CV_StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported" );
dstr.create( src.size(), CV_8UC4 );
dstsp.create( src.size(), CV_16SC2 );
if( !(criteria.type & TermCriteria::MAX_ITER) )
criteria.maxCount = 5;
int maxIter = std::min(std::max(criteria.maxCount, 1), 100);
float eps;
if( !(criteria.type & TermCriteria::EPS) )
eps = 1.f;
eps = (float)std::max(criteria.epsilon, 0.0);
improc::meanShiftProc_gpu(src, dstr, dstsp, sp, sr, maxIter, eps);
}
////////////////////////////////////////////////////////////////////////
// drawColorDisp