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refactored mssegmentation.cpp

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This commit is contained in:
Alexey Spizhevoy 2010-10-18 12:47:15 +00:00
parent 64bbab63dc
commit fa245e5f21
1 changed files with 64 additions and 149 deletions
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213
modules/gpu/src/mssegmentation.cpp
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@ -40,39 +40,14 @@
// //
//M*/ //M*/
#include <time.h>
#include <vector>
#include "precomp.hpp" #include "precomp.hpp"
#if !defined(HAVE_CUDA) #if !defined(HAVE_CUDA)
namespace cv void cv::gpu::meanShiftSegmentation(const GpuMat&, Mat&, int, int, int, TermCriteria) { throw_nogpu(); }
{
namespace gpu
{
void meanShiftSegmentation(const GpuMat&, Mat&, int, int, int, TermCriteria) { throw_nogpu(); }
} // namespace gpu
} // namespace cv
#else #else
//#define _MSSEGMENTATION_DBG
#ifdef _MSSEGMENTATION_DBG
#include <iostream>
#define LOG(s) std::cout << (s) << std::endl
#define LOG2(s1, s2) std::cout << (s1) << (s2) << std::endl
#define DBG(code) code
#else
#define LOG(s1)
#define LOG2(s1, s2)
#define DBG(code)
#endif
#define PIX(y, x) ((y) * ncols + (x))
using namespace std; using namespace std;
// Auxiliray stuff // Auxiliray stuff
@ -87,13 +62,12 @@ class DjSets
{ {
public: public:
DjSets(int n); DjSets(int n);
~DjSets(); int find(int elem);
int find(int elem) const;
int merge(int set1, int set2); int merge(int set1, int set2);
int* parent; vector<int> parent;
int* rank; vector<int> rank;
int* size; vector<int> size;
private: private:
DjSets(const DjSets&) {} DjSets(const DjSets&) {}
DjSets operator =(const DjSets&) {} DjSets operator =(const DjSets&) {}
@ -118,12 +92,11 @@ public:
typedef GraphEdge<T> Edge; typedef GraphEdge<T> Edge;
Graph(int numv, int nume_max); Graph(int numv, int nume_max);
~Graph();
void addEdge(int from, int to, const T& val=T()); void addEdge(int from, int to, const T& val=T());
int* start; vector<int> start;
Edge* edges; vector<Edge> edges;
int numv; int numv;
int nume_max; int nume_max;
@ -152,47 +125,27 @@ struct SegmLink
SegmLink() {} SegmLink() {}
SegmLink(int from, int to, const SegmLinkVal& val) SegmLink(int from, int to, const SegmLinkVal& val)
: from(from), to(to), val(val) {} : from(from), to(to), val(val) {}
bool operator <(const SegmLink& other) const
{
return val < other.val;
}
int from; int from;
int to; int to;
SegmLinkVal val; SegmLinkVal val;
}; };
struct SegmLinkCmp
{
bool operator ()(const SegmLink& lhs, const SegmLink& rhs) const
{
return lhs.val < rhs.val;
}
};
// //
// Implementation // Implementation
// //
DjSets::DjSets(int n) DjSets::DjSets(int n) : parent(n), rank(n, 0), size(n, 1)
{ {
parent = new int[n];
rank = new int[n];
size = new int[n];
for (int i = 0; i < n; ++i) for (int i = 0; i < n; ++i)
{
parent[i] = i; parent[i] = i;
rank[i] = 0;
size[i] = 1;
}
} }
DjSets::~DjSets() inline int DjSets::find(int elem)
{
delete[] parent;
delete[] rank;
delete[] size;
}
inline int DjSets::find(int elem) const
{ {
int set = elem; int set = elem;
while (set != parent[set]) while (set != parent[set])
@ -229,50 +182,50 @@ inline int DjSets::merge(int set1, int set2)
template <typename T> template <typename T>
Graph<T>::Graph(int numv, int nume_max) Graph<T>::Graph(int numv, int nume_max) : start(numv, -1), edges(nume_max)
{ {
this->numv = numv; this->numv = numv;
this->nume_max = nume_max; this->nume_max = nume_max;
start = new int[numv];
for (int i = 0; i < numv; ++i)
start[i] = -1;
edges = new Edge[nume_max];
nume = 0; nume = 0;
} }
template <typename T>
Graph<T>::~Graph()
{
delete[] start;
delete[] edges;
}
template <typename T> template <typename T>
inline void Graph<T>::addEdge(int from, int to, const T& val) inline void Graph<T>::addEdge(int from, int to, const T& val)
{ {
Edge* edge = edges + nume; edges[nume] = Edge(to, start[from], val);
new (edge) SegmLink(to, start[from], val);
start[from] = nume; start[from] = nume;
nume++; nume++;
} }
inline int sqr(int x) inline int pix(int y, int x, int ncols)
{
return y * ncols + x;
}
inline int sqr(int x)
{ {
return x * x; return x * x;
} }
inline int dist2(const cv::Vec4b& lhs, const cv::Vec4b& rhs)
{
return sqr(lhs[0] - rhs[0]) + sqr(lhs[1] - rhs[1]) + sqr(lhs[2] - rhs[2]);
}
inline int dist2(const cv::Vec2s& lhs, const cv::Vec2s& rhs)
{
return sqr(lhs[0] - rhs[0]) + sqr(lhs[1] - rhs[1]);
}
} // anonymous namespace } // anonymous namespace
namespace cv void cv::gpu::meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int minsize, TermCriteria criteria)
{
namespace gpu
{
void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int minsize, TermCriteria criteria)
{ {
CV_Assert(src.type() == CV_8UC4); CV_Assert(src.type() == CV_8UC4);
const int nrows = src.rows; const int nrows = src.rows;
@ -280,37 +233,28 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
const int hr = sr; const int hr = sr;
const int hsp = sp; const int hsp = sp;
DBG(clock_t start = clock());
// Perform mean shift procedure and obtain region and spatial maps // Perform mean shift procedure and obtain region and spatial maps
GpuMat h_rmap, h_spmap; GpuMat h_rmap, h_spmap;
meanShiftProc(src, h_rmap, h_spmap, sp, sr, criteria); meanShiftProc(src, h_rmap, h_spmap, sp, sr, criteria);
Mat rmap = h_rmap; Mat rmap = h_rmap;
Mat spmap = h_spmap; Mat spmap = h_spmap;
LOG2("meanshift:", clock() - start);
DBG(start = clock());
Graph<SegmLinkVal> g(nrows * ncols, 4 * (nrows - 1) * (ncols - 1) Graph<SegmLinkVal> g(nrows * ncols, 4 * (nrows - 1) * (ncols - 1)
+ (nrows - 1) + (ncols - 1)); + (nrows - 1) + (ncols - 1));
LOG2("ragalloc:", clock() - start);
DBG(start = clock());
// Make region adjacent graph from image // Make region adjacent graph from image
// TODO: SSE?
Vec4b r1; Vec4b r1;
Vec4b r2[4]; Vec4b r2[4];
Point_<short> sp1; Vec2s sp1;
Point_<short> sp2[4]; Vec2s sp2[4];
int dr[4]; int dr[4];
int dsp[4]; int dsp[4];
for (int y = 0; y < nrows - 1; ++y) for (int y = 0; y < nrows - 1; ++y)
{ {
Vec4b* ry = rmap.ptr<Vec4b>(y); Vec4b* ry = rmap.ptr<Vec4b>(y);
Vec4b* ryp = rmap.ptr<Vec4b>(y + 1); Vec4b* ryp = rmap.ptr<Vec4b>(y + 1);
Point_<short>* spy = spmap.ptr<Point_<short> >(y); Vec2s* spy = spmap.ptr<Vec2s>(y);
Point_<short>* spyp = spmap.ptr<Point_<short> >(y + 1); Vec2s* spyp = spmap.ptr<Vec2s>(y + 1);
for (int x = 0; x < ncols - 1; ++x) for (int x = 0; x < ncols - 1; ++x)
{ {
r1 = ry[x]; r1 = ry[x];
@ -326,54 +270,48 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
sp2[2] = spyp[x + 1]; sp2[2] = spyp[x + 1];
sp2[3] = spyp[x]; sp2[3] = spyp[x];
dr[0] = sqr(r1[0] - r2[0][0]) + sqr(r1[1] - r2[0][1]) + sqr(r1[2] - r2[0][2]); dr[0] = dist2(r1, r2[0]);
dr[1] = sqr(r1[0] - r2[1][0]) + sqr(r1[1] - r2[1][1]) + sqr(r1[2] - r2[1][2]); dr[1] = dist2(r1, r2[1]);
dr[2] = sqr(r1[0] - r2[2][0]) + sqr(r1[1] - r2[2][1]) + sqr(r1[2] - r2[2][2]); dr[2] = dist2(r1, r2[2]);
dsp[0] = sqr(sp1.x - sp2[0].x) + sqr(sp1.y - sp2[0].y); dsp[0] = dist2(sp1, sp2[0]);
dsp[1] = sqr(sp1.x - sp2[1].x) + sqr(sp1.y - sp2[1].y); dsp[1] = dist2(sp1, sp2[1]);
dsp[2] = sqr(sp1.x - sp2[2].x) + sqr(sp1.y - sp2[2].y); dsp[2] = dist2(sp1, sp2[2]);
r1 = ry[x + 1]; r1 = ry[x + 1];
sp1 = spy[x + 1]; sp1 = spy[x + 1];
dr[3] = sqr(r1[0] - r2[3][0]) + sqr(r1[1] - r2[3][1]) + sqr(r1[2] - r2[3][2]); dr[3] = dist2(r1, r2[3]);
dsp[3] = sqr(sp1.x - sp2[3].x) + sqr(sp1.y - sp2[3].y); dsp[3] = dist2(sp1, sp2[3]);
g.addEdge(PIX(y, x), PIX(y, x + 1), SegmLinkVal(dr[0], dsp[0])); g.addEdge(pix(y, x, ncols), pix(y, x + 1, ncols), SegmLinkVal(dr[0], dsp[0]));
g.addEdge(PIX(y, x), PIX(y + 1, x), SegmLinkVal(dr[1], dsp[1])); g.addEdge(pix(y, x, ncols), pix(y + 1, x, ncols), SegmLinkVal(dr[1], dsp[1]));
g.addEdge(PIX(y, x), PIX(y + 1, x + 1), SegmLinkVal(dr[2], dsp[2])); g.addEdge(pix(y, x, ncols), pix(y + 1, x + 1, ncols), SegmLinkVal(dr[2], dsp[2]));
g.addEdge(PIX(y, x + 1), PIX(y, x + 1), SegmLinkVal(dr[3], dsp[3])); g.addEdge(pix(y, x + 1, ncols), pix(y, x + 1, ncols), SegmLinkVal(dr[3], dsp[3]));
} }
} }
for (int y = 0; y < nrows - 1; ++y) for (int y = 0; y < nrows - 1; ++y)
{ {
r1 = rmap.at<Vec4b>(y, ncols - 1); r1 = rmap.at<Vec4b>(y, ncols - 1);
r2[0] = rmap.at<Vec4b>(y + 1, ncols - 1); r2[0] = rmap.at<Vec4b>(y + 1, ncols - 1);
sp1 = spmap.at<Point_<short> >(y, ncols - 1); sp1 = spmap.at<Vec2s>(y, ncols - 1);
sp2[0] = spmap.at<Point_<short> >(y + 1, ncols - 1); sp2[0] = spmap.at<Vec2s>(y + 1, ncols - 1);
dr[0] = sqr(r1[0] - r2[0][0]) + sqr(r1[1] - r2[0][1]) + sqr(r1[2] - r2[0][2]); dr[0] = dist2(r1, r2[0]);
dsp[0] = sqr(sp1.x - sp2[0].x) + sqr(sp1.y - sp2[0].y); dsp[0] = dist2(sp1, sp2[0]);
g.addEdge(PIX(y, ncols - 1), PIX(y + 1, ncols - 1), SegmLinkVal(dr[0], dsp[0])); g.addEdge(pix(y, ncols - 1, ncols), pix(y + 1, ncols - 1, ncols), SegmLinkVal(dr[0], dsp[0]));
} }
for (int x = 0; x < ncols - 1; ++x) for (int x = 0; x < ncols - 1; ++x)
{ {
r1 = rmap.at<Vec4b>(nrows - 1, x); r1 = rmap.at<Vec4b>(nrows - 1, x);
r2[0] = rmap.at<Vec4b>(nrows - 1, x + 1); r2[0] = rmap.at<Vec4b>(nrows - 1, x + 1);
sp1 = spmap.at<Point_<short> >(nrows - 1, x); sp1 = spmap.at<Vec2s>(nrows - 1, x);
sp2[0] = spmap.at<Point_<short> >(nrows - 1, x + 1); sp2[0] = spmap.at<Vec2s>(nrows - 1, x + 1);
dr[0] = sqr(r1[0] - r2[0][0]) + sqr(r1[1] - r2[0][1]) + sqr(r1[2] - r2[0][2]); dr[0] = dist2(r1, r2[0]);
dsp[0] = sqr(sp1.x - sp2[0].x) + sqr(sp1.y - sp2[0].y); dsp[0] = dist2(sp1, sp2[0]);
g.addEdge(PIX(nrows - 1, x), PIX(nrows - 1, x + 1), SegmLinkVal(dr[0], dsp[0])); g.addEdge(pix(nrows - 1, x, ncols), pix(nrows - 1, x + 1, ncols), SegmLinkVal(dr[0], dsp[0]));
} }
LOG2("raginit:", clock() - start);
DBG(start = clock());
DjSets comps(g.numv); DjSets comps(g.numv);
LOG2("djsetinit:", clock() - start);
DBG(start = clock());
// Find adjacent components // Find adjacent components
for (int v = 0; v < g.numv; ++v) for (int v = 0; v < g.numv; ++v)
{ {
@ -386,15 +324,9 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
} }
} }
LOG2("findadjacent:", clock() - start);
DBG(start = clock());
vector<SegmLink> edges; vector<SegmLink> edges;
edges.reserve(g.numv); edges.reserve(g.numv);
LOG2("initedges:", clock() - start);
DBG(start = clock());
// Prepare edges connecting differnet components // Prepare edges connecting differnet components
for (int v = 0; v < g.numv; ++v) for (int v = 0; v < g.numv; ++v)
{ {
@ -407,14 +339,8 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
} }
} }
LOG2("prepareforsort:", clock() - start);
DBG(start = clock());
// Sort all graph's edges connecting differnet components (in asceding order) // Sort all graph's edges connecting differnet components (in asceding order)
sort(edges.begin(), edges.end(), SegmLinkCmp()); sort(edges.begin(), edges.end());
LOG2("sortedges:", clock() - start);
DBG(start = clock());
// Exclude small components (starting from the nearest couple) // Exclude small components (starting from the nearest couple)
for (size_t i = 0; i < edges.size(); ++i) for (size_t i = 0; i < edges.size(); ++i)
@ -425,9 +351,6 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
comps.merge(c1, c2); comps.merge(c1, c2);
} }
LOG2("excludesmall:", clock() - start);
DBG(start = clock());
// Compute sum of the pixel's colors which are in the same segment // Compute sum of the pixel's colors which are in the same segment
Mat h_src = src; Mat h_src = src;
vector<Vec4i> sumcols(nrows * ncols, Vec4i(0, 0, 0, 0)); vector<Vec4i> sumcols(nrows * ncols, Vec4i(0, 0, 0, 0));
@ -436,7 +359,7 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
Vec4b* h_srcy = h_src.ptr<Vec4b>(y); Vec4b* h_srcy = h_src.ptr<Vec4b>(y);
for (int x = 0; x < ncols; ++x) for (int x = 0; x < ncols; ++x)
{ {
int parent = comps.find(PIX(y, x)); int parent = comps.find(pix(y, x, ncols));
Vec4b col = h_srcy[x]; Vec4b col = h_srcy[x];
Vec4i& sumcol = sumcols[parent]; Vec4i& sumcol = sumcols[parent];
sumcol[0] += col[0]; sumcol[0] += col[0];
@ -445,9 +368,6 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
} }
} }
LOG2("computesum:", clock() - start);
DBG(start = clock());
// Create final image, color of each segment is the average color of its pixels // Create final image, color of each segment is the average color of its pixels
dst.create(src.size(), src.type()); dst.create(src.size(), src.type());
@ -456,7 +376,7 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
Vec4b* dsty = dst.ptr<Vec4b>(y); Vec4b* dsty = dst.ptr<Vec4b>(y);
for (int x = 0; x < ncols; ++x) for (int x = 0; x < ncols; ++x)
{ {
int parent = comps.find(PIX(y, x)); int parent = comps.find(pix(y, x, ncols));
const Vec4i& sumcol = sumcols[parent]; const Vec4i& sumcol = sumcols[parent];
Vec4b& dstcol = dsty[x]; Vec4b& dstcol = dsty[x];
dstcol[0] = static_cast<uchar>(sumcol[0] / comps.size[parent]); dstcol[0] = static_cast<uchar>(sumcol[0] / comps.size[parent]);
@ -464,11 +384,6 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
dstcol[2] = static_cast<uchar>(sumcol[2] / comps.size[parent]); dstcol[2] = static_cast<uchar>(sumcol[2] / comps.size[parent]);
} }
} }
LOG2("createfinal:", clock() - start);
} }
} // namespace gpu
} // namespace cv
#endif // #if !defined (HAVE_CUDA) #endif // #if !defined (HAVE_CUDA)