mirror of https://github.com/opencv/opencv.git
Alexey Spizhevoy
14 years ago
parent
5386a8e7cb
commit
970dd7f593
3 changed files with 582 additions and 0 deletions
@ -0,0 +1,475 @@ |
||||
/*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,
|
||||
// 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.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include <time.h> |
||||
#include <vector> |
||||
#include "precomp.hpp" |
||||
|
||||
#if !defined(HAVE_CUDA) |
||||
|
||||
namespace cv |
||||
{ |
||||
namespace gpu |
||||
{ |
||||
|
||||
void meanShiftSegmentation(const GpuMat&, Mat&, int, int, int, TermCriteria) { throw_nogpu(); } |
||||
|
||||
} // namespace gpu
|
||||
} // namespace cv
|
||||
|
||||
#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; |
||||
|
||||
// Auxiliray stuff
|
||||
namespace |
||||
{ |
||||
|
||||
//
|
||||
// Declarations
|
||||
//
|
||||
|
||||
class DjSets |
||||
{ |
||||
public: |
||||
DjSets(int n); |
||||
~DjSets(); |
||||
int find(int elem) const; |
||||
int merge(int set1, int set2); |
||||
|
||||
int* parent; |
||||
int* rank; |
||||
int* size; |
||||
private: |
||||
DjSets(const DjSets&) {} |
||||
DjSets operator =(const DjSets&) {} |
||||
}; |
||||
|
||||
|
||||
template <typename T> |
||||
struct GraphEdge |
||||
{ |
||||
GraphEdge() {} |
||||
GraphEdge(int to, int next, const T& val) : to(to), next(next), val(val) {} |
||||
int to; |
||||
int next; |
||||
T val; |
||||
}; |
||||
|
||||
|
||||
template <typename T> |
||||
class Graph |
||||
{ |
||||
public: |
||||
typedef GraphEdge<T> Edge; |
||||
|
||||
Graph(int numv, int nume_max); |
||||
~Graph(); |
||||
|
||||
void addEdge(int from, int to, const T& val=T()); |
||||
|
||||
int* start; |
||||
Edge* edges; |
||||
|
||||
int numv; |
||||
int nume_max; |
||||
int nume; |
||||
private: |
||||
Graph(const Graph&) {} |
||||
Graph operator =(const Graph&) {} |
||||
}; |
||||
|
||||
|
||||
struct SegmLinkVal |
||||
{ |
||||
SegmLinkVal() {} |
||||
SegmLinkVal(int dr, int dsp) : dr(dr), dsp(dsp) {} |
||||
bool operator <(const SegmLinkVal& other) const |
||||
{ |
||||
return dr + dsp < other.dr + other.dsp; |
||||
} |
||||
int dr; |
||||
int dsp; |
||||
}; |
||||
|
||||
|
||||
struct SegmLink |
||||
{ |
||||
SegmLink() {} |
||||
SegmLink(int from, int to, const SegmLinkVal& val)
|
||||
: from(from), to(to), val(val) {} |
||||
int from; |
||||
int to; |
||||
SegmLinkVal val; |
||||
}; |
||||
|
||||
|
||||
struct SegmLinkCmp |
||||
{ |
||||
bool operator ()(const SegmLink& lhs, const SegmLink& rhs) const |
||||
{ |
||||
return lhs.val < rhs.val; |
||||
} |
||||
}; |
||||
|
||||
//
|
||||
// Implementation
|
||||
//
|
||||
|
||||
DjSets::DjSets(int n) |
||||
{ |
||||
parent = new int[n]; |
||||
rank = new int[n]; |
||||
size = new int[n];
|
||||
for (int i = 0; i < n; ++i) |
||||
{ |
||||
parent[i] = i; |
||||
rank[i] = 0; |
||||
size[i] = 1; |
||||
} |
||||
} |
||||
|
||||
|
||||
DjSets::~DjSets() |
||||
{ |
||||
delete[] parent; |
||||
delete[] rank; |
||||
delete[] size; |
||||
} |
||||
|
||||
|
||||
inline int DjSets::find(int elem) const |
||||
{ |
||||
int set = elem; |
||||
while (set != parent[set]) |
||||
set = parent[set]; |
||||
while (elem != parent[elem]) |
||||
{ |
||||
int next = parent[elem]; |
||||
parent[elem] = set; |
||||
elem = next; |
||||
} |
||||
return set; |
||||
} |
||||
|
||||
|
||||
inline int DjSets::merge(int set1, int set2) |
||||
{ |
||||
if (rank[set1] < rank[set2]) |
||||
{ |
||||
parent[set1] = set2; |
||||
size[set2] += size[set1]; |
||||
return set2; |
||||
} |
||||
if (rank[set2] < rank[set1]) |
||||
{ |
||||
parent[set2] = set1; |
||||
size[set1] += size[set2]; |
||||
return set1; |
||||
} |
||||
parent[set1] = set2; |
||||
rank[set2]++; |
||||
size[set2] += size[set1]; |
||||
return set2; |
||||
} |
||||
|
||||
|
||||
template <typename T> |
||||
Graph<T>::Graph(int numv, int nume_max) |
||||
{ |
||||
this->numv = numv; |
||||
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; |
||||
} |
||||
|
||||
|
||||
template <typename T> |
||||
Graph<T>::~Graph() |
||||
{ |
||||
delete[] start; |
||||
delete[] edges; |
||||
} |
||||
|
||||
|
||||
template <typename T> |
||||
inline void Graph<T>::addEdge(int from, int to, const T& val) |
||||
{ |
||||
Edge* edge = edges + nume; |
||||
new (edge) SegmLink(to, start[from], val); |
||||
start[from] = nume; |
||||
nume++; |
||||
} |
||||
|
||||
|
||||
inline int sqr(int x) |
||||
{ |
||||
return x * x; |
||||
} |
||||
|
||||
} // anonymous namespace
|
||||
|
||||
|
||||
namespace cv |
||||
{ |
||||
namespace gpu |
||||
{ |
||||
|
||||
void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int minsize, TermCriteria criteria) |
||||
{ |
||||
CV_Assert(src.type() == CV_8UC4); |
||||
const int nrows = src.rows; |
||||
const int ncols = src.cols; |
||||
const int hr = sr; |
||||
const int hsp = sp; |
||||
|
||||
DBG(clock_t start = clock()); |
||||
|
||||
// Perform mean shift procedure and obtain region and spatial maps
|
||||
GpuMat h_rmap, h_spmap; |
||||
meanShiftProc(src, h_rmap, h_spmap, sp, sr, criteria); |
||||
Mat rmap = h_rmap; |
||||
Mat spmap = h_spmap; |
||||
|
||||
LOG2("meanshift:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
Graph<SegmLinkVal> g(nrows * ncols, 4 * (nrows - 1) * (ncols - 1) |
||||
+ (nrows - 1) + (ncols - 1)); |
||||
|
||||
LOG2("ragalloc:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
// Make region adjacent graph from image
|
||||
// TODO: SSE?
|
||||
Vec4b r1; |
||||
Vec4b r2[4]; |
||||
Point_<short> sp1; |
||||
Point_<short> sp2[4]; |
||||
int dr[4]; |
||||
int dsp[4]; |
||||
for (int y = 0; y < nrows - 1; ++y) |
||||
{ |
||||
Vec4b* ry = rmap.ptr<Vec4b>(y); |
||||
Vec4b* ryp = rmap.ptr<Vec4b>(y + 1); |
||||
Point_<short>* spy = spmap.ptr<Point_<short> >(y); |
||||
Point_<short>* spyp = spmap.ptr<Point_<short> >(y + 1); |
||||
for (int x = 0; x < ncols - 1; ++x) |
||||
{ |
||||
r1 = ry[x]; |
||||
sp1 = spy[x]; |
||||
|
||||
r2[0] = ry[x + 1]; |
||||
r2[1] = ryp[x]; |
||||
r2[2] = ryp[x + 1]; |
||||
r2[3] = ryp[x]; |
||||
|
||||
sp2[0] = spy[x + 1]; |
||||
sp2[1] = spyp[x]; |
||||
sp2[2] = spyp[x + 1]; |
||||
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[1] = sqr(r1[0] - r2[1][0]) + sqr(r1[1] - r2[1][1]) + sqr(r1[2] - r2[1][2]); |
||||
dr[2] = sqr(r1[0] - r2[2][0]) + sqr(r1[1] - r2[2][1]) + sqr(r1[2] - r2[2][2]); |
||||
dsp[0] = sqr(sp1.x - sp2[0].x) + sqr(sp1.y - sp2[0].y); |
||||
dsp[1] = sqr(sp1.x - sp2[1].x) + sqr(sp1.y - sp2[1].y); |
||||
dsp[2] = sqr(sp1.x - sp2[2].x) + sqr(sp1.y - sp2[2].y);
|
||||
|
||||
r1 = ry[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]); |
||||
dsp[3] = sqr(sp1.x - sp2[3].x) + sqr(sp1.y - sp2[3].y);
|
||||
|
||||
g.addEdge(PIX(y, x), PIX(y, x + 1), SegmLinkVal(dr[0], dsp[0])); |
||||
g.addEdge(PIX(y, x), PIX(y + 1, x), 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 + 1), PIX(y, x + 1), SegmLinkVal(dr[3], dsp[3])); |
||||
} |
||||
} |
||||
for (int y = 0; y < nrows - 1; ++y) |
||||
{ |
||||
r1 = rmap.at<Vec4b>(y, ncols - 1); |
||||
r2[0] = rmap.at<Vec4b>(y + 1, ncols - 1); |
||||
sp1 = spmap.at<Point_<short> >(y, ncols - 1); |
||||
sp2[0] = spmap.at<Point_<short> >(y + 1, ncols - 1); |
||||
dr[0] = sqr(r1[0] - r2[0][0]) + sqr(r1[1] - r2[0][1]) + sqr(r1[2] - r2[0][2]); |
||||
dsp[0] = sqr(sp1.x - sp2[0].x) + sqr(sp1.y - sp2[0].y);
|
||||
g.addEdge(PIX(y, ncols - 1), PIX(y + 1, ncols - 1), SegmLinkVal(dr[0], dsp[0])); |
||||
} |
||||
for (int x = 0; x < ncols - 1; ++x) |
||||
{ |
||||
r1 = rmap.at<Vec4b>(nrows - 1, x); |
||||
r2[0] = rmap.at<Vec4b>(nrows - 1, x + 1); |
||||
sp1 = spmap.at<Point_<short> >(nrows - 1, x); |
||||
sp2[0] = spmap.at<Point_<short> >(nrows - 1, x + 1); |
||||
dr[0] = sqr(r1[0] - r2[0][0]) + sqr(r1[1] - r2[0][1]) + sqr(r1[2] - r2[0][2]); |
||||
dsp[0] = sqr(sp1.x - sp2[0].x) + sqr(sp1.y - sp2[0].y);
|
||||
g.addEdge(PIX(nrows - 1, x), PIX(nrows - 1, x + 1), SegmLinkVal(dr[0], dsp[0])); |
||||
} |
||||
|
||||
LOG2("raginit:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
DjSets comps(g.numv); |
||||
|
||||
LOG2("djsetinit:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
// Find adjacent components
|
||||
for (int v = 0; v < g.numv; ++v) |
||||
{ |
||||
for (int e_it = g.start[v]; e_it != -1; e_it = g.edges[e_it].next) |
||||
{ |
||||
int comp1 = comps.find(v); |
||||
int comp2 = comps.find(g.edges[e_it].to); |
||||
if (comp1 != comp2 && g.edges[e_it].val.dr < hr
|
||||
&& g.edges[e_it].val.dsp < hsp) |
||||
comps.merge(comp1, comp2); |
||||
} |
||||
} |
||||
|
||||
LOG2("findadjacent:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
vector<SegmLink> edges; |
||||
edges.reserve(g.numv); |
||||
|
||||
LOG2("initedges:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
for (int v = 0; v < g.numv; ++v) |
||||
{ |
||||
int comp1 = comps.find(v); |
||||
for (int e_it = g.start[v]; e_it != -1; e_it = g.edges[e_it].next) |
||||
{ |
||||
int comp2 = comps.find(g.edges[e_it].to); |
||||
if (comp1 != comp2) |
||||
edges.push_back(SegmLink(comp1, comp2, g.edges[e_it].val)); |
||||
} |
||||
} |
||||
|
||||
LOG2("prepareforsort:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
// Sort all graph's edges connecting differnet components (in asceding order)
|
||||
sort(edges.begin(), edges.end(), SegmLinkCmp()); |
||||
|
||||
LOG2("sortedges:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
// Exclude small components (starting from the nearest couple)
|
||||
vector<SegmLink>::iterator e_it = edges.begin(); |
||||
for (; e_it != edges.end(); ++e_it) |
||||
{ |
||||
int comp1 = comps.find(e_it->from); |
||||
int comp2 = comps.find(e_it->to); |
||||
if (comp1 != comp2 && (comps.size[comp1] < minsize || comps.size[comp2] < minsize)) |
||||
comps.merge(comp1, comp2); |
||||
} |
||||
|
||||
LOG2("excludesmall:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
// Compute sum of the pixel's colors which are in the same segment
|
||||
Mat h_src = src; |
||||
vector<Vec4i> sumcols(nrows * ncols, Vec4i(0, 0, 0, 0)); |
||||
for (int y = 0; y < nrows; ++y) |
||||
{ |
||||
Vec4b* h_srcy = h_src.ptr<Vec4b>(y); |
||||
for (int x = 0; x < ncols; ++x) |
||||
{ |
||||
int parent = comps.find(PIX(y, x)); |
||||
Vec4b col = h_srcy[x]; |
||||
Vec4i& sumcol = sumcols[parent]; |
||||
sumcol[0] += col[0]; |
||||
sumcol[1] += col[1]; |
||||
sumcol[2] += col[2]; |
||||
} |
||||
} |
||||
|
||||
LOG2("computesum:", clock() - start); |
||||
DBG(start = clock()); |
||||
|
||||
// Create final image, color of each segment is the average color of its pixels
|
||||
dst.create(src.size(), src.type()); |
||||
|
||||
for (int y = 0; y < nrows; ++y) |
||||
{ |
||||
Vec4b* dsty = dst.ptr<Vec4b>(y); |
||||
for (int x = 0; x < ncols; ++x) |
||||
{ |
||||
int parent = comps.find(PIX(y, x)); |
||||
const Vec4i& sumcol = sumcols[parent]; |
||||
Vec4b& dstcol = dsty[x]; |
||||
dstcol[0] = static_cast<uchar>(sumcol[0] / comps.size[parent]); |
||||
dstcol[1] = static_cast<uchar>(sumcol[1] / 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)
|
||||
@ -0,0 +1,103 @@ |
||||
/*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.
|
||||
//
|
||||
//
|
||||
// Intel License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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,
|
||||
// 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.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include <opencv2/opencv.hpp> |
||||
#include <opencv2/gpu/gpu.hpp> |
||||
#include <iostream> |
||||
#include <string> |
||||
#include <iosfwd> |
||||
#include "gputest.hpp" |
||||
using namespace cv; |
||||
using namespace cv::gpu; |
||||
using namespace std; |
||||
|
||||
struct CV_GpuMeanShiftSegmentationTest : public CvTest { |
||||
CV_GpuMeanShiftSegmentationTest() : CvTest( "GPU-MeanShiftSegmentation", "MeanShiftSegmentation" ) {} |
||||
|
||||
void run(int)
|
||||
{ |
||||
try
|
||||
{ |
||||
Mat img_rgb = imread(string(ts->get_data_path()) + "meanshift/cones.png"); |
||||
if (img_rgb.empty()) |
||||
{ |
||||
ts->set_failed_test_info(CvTS::FAIL_MISSING_TEST_DATA); |
||||
return; |
||||
} |
||||
|
||||
Mat img; |
||||
cvtColor(img_rgb, img, CV_BGR2BGRA); |
||||
|
||||
for (int minsize = 0; minsize < 2000; minsize = (minsize + 1) * 2)
|
||||
{ |
||||
stringstream path; |
||||
path << ts->get_data_path() << "meanshift/cones_segmented_sp10_sr10_minsize" << minsize << ".png"; |
||||
|
||||
Mat dst; |
||||
meanShiftSegmentation((GpuMat)img, dst, 10, 10, minsize); |
||||
Mat dst_rgb; |
||||
cvtColor(dst, dst_rgb, CV_BGRA2BGR); |
||||
|
||||
//imwrite(path.str(), dst_rgb);
|
||||
Mat dst_ref = imread(path.str()); |
||||
if (dst_ref.empty())
|
||||
{ |
||||
ts->set_failed_test_info(CvTS::FAIL_MISSING_TEST_DATA); |
||||
return; |
||||
} |
||||
if (abs(cv::norm(dst_rgb - dst_ref, NORM_INF)) > 1e-3)
|
||||
{ |
||||
ts->printf(CvTS::LOG, "\ndiffers from image *minsize%d.png\n", minsize); |
||||
ts->set_failed_test_info(CvTS::FAIL_BAD_ACCURACY); |
||||
return; |
||||
} |
||||
} |
||||
} |
||||
catch (const cv::Exception& e)
|
||||
{ |
||||
if (!check_and_treat_gpu_exception(e, ts)) |
||||
throw; |
||||
return; |
||||
} |
||||
|
||||
ts->set_failed_test_info(CvTS::OK); |
||||
}
|
||||
} ms_segm_test; |
||||
Loading…
Reference in new issue