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refactored mssegmentation.cpp

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pull/13383/head
Alexey Spizhevoy 15 years ago
parent 64bbab63dc
commit fa245e5f21
1 changed files with 62 additions and 147 deletions
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  1. 209
      modules/gpu/src/mssegmentation.cpp

209
modules/gpu/src/mssegmentation.cpp
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@ -40,38 +40,13 @@
//
//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
void cv::gpu::meanShiftSegmentation(const GpuMat&, Mat&, int, int, int, TermCriteria) { throw_nogpu(); }
#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;
@ -87,13 +62,12 @@ class DjSets
{
public:
DjSets(int n);
~DjSets();
int find(int elem) const;
int find(int elem);
int merge(int set1, int set2);
int* parent;
int* rank;
int* size;
vector<int> parent;
vector<int> rank;
vector<int> size;
private:
DjSets(const DjSets&) {}
DjSets operator =(const DjSets&) {}
@ -118,12 +92,11 @@ 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;
vector<int> start;
vector<Edge> edges;
int numv;
int nume_max;
@ -152,47 +125,27 @@ struct SegmLink
SegmLink() {}
SegmLink(int from, int to, const SegmLinkVal& val)
: from(from), to(to), val(val) {}
bool operator <(const SegmLink& other) const
{
return val < other.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)
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)
{
parent[i] = i;
rank[i] = 0;
size[i] = 1;
}
}
DjSets::~DjSets()
{
delete[] parent;
delete[] rank;
delete[] size;
}
inline int DjSets::find(int elem) const
inline int DjSets::find(int elem)
{
int set = elem;
while (set != parent[set])
@ -229,50 +182,50 @@ inline int DjSets::merge(int set1, int set2)
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->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()
inline void Graph<T>::addEdge(int from, int to, const T& val)
{
delete[] start;
delete[] edges;
edges[nume] = Edge(to, start[from], val);
start[from] = nume;
nume++;
}
template <typename T>
inline void Graph<T>::addEdge(int from, int to, const T& val)
inline int pix(int y, int x, int ncols)
{
Edge* edge = edges + nume;
new (edge) SegmLink(to, start[from], val);
start[from] = nume;
nume++;
return y * ncols + x;
}
inline int sqr(int x)
inline int sqr(int x)
{
return x * x;
}
} // anonymous namespace
namespace cv
inline int dist2(const cv::Vec4b& lhs, const cv::Vec4b& rhs)
{
namespace gpu
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
void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int minsize, TermCriteria criteria)
void cv::gpu::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;
@ -280,37 +233,28 @@ void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int mins
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];
Vec2s sp1;
Vec2s 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);
Vec2s* spy = spmap.ptr<Vec2s>(y);
Vec2s* spyp = spmap.ptr<Vec2s>(y + 1);
for (int x = 0; x < ncols - 1; ++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[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);
dr[0] = dist2(r1, r2[0]);
dr[1] = dist2(r1, r2[1]);
dr[2] = dist2(r1, r2[2]);
dsp[0] = dist2(sp1, sp2[0]);
dsp[1] = dist2(sp1, sp2[1]);
dsp[2] = dist2(sp1, sp2[2]);
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);
dr[3] = dist2(r1, r2[3]);
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), 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]));
g.addEdge(pix(y, x, ncols), pix(y, x + 1, ncols), SegmLinkVal(dr[0], dsp[0]));
g.addEdge(pix(y, x, ncols), pix(y + 1, x, ncols), SegmLinkVal(dr[1], dsp[1]));
g.addEdge(pix(y, x, ncols), pix(y + 1, x + 1, ncols), SegmLinkVal(dr[2], dsp[2]));
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)
{
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]));
sp1 = spmap.at<Vec2s>(y, ncols - 1);
sp2[0] = spmap.at<Vec2s>(y + 1, ncols - 1);
dr[0] = dist2(r1, r2[0]);
dsp[0] = dist2(sp1, sp2[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)
{
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]));
sp1 = spmap.at<Vec2s>(nrows - 1, x);
sp2[0] = spmap.at<Vec2s>(nrows - 1, x + 1);
dr[0] = dist2(r1, r2[0]);
dsp[0] = dist2(sp1, sp2[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);
LOG2("djsetinit:", clock() - start);
DBG(start = clock());
// Find adjacent components
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;
edges.reserve(g.numv);
LOG2("initedges:", clock() - start);
DBG(start = clock());
// Prepare edges connecting differnet components
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(edges.begin(), edges.end(), SegmLinkCmp());
LOG2("sortedges:", clock() - start);
DBG(start = clock());
sort(edges.begin(), edges.end());
// Exclude small components (starting from the nearest couple)
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);
}
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));
@ -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);
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];
Vec4i& sumcol = sumcols[parent];
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
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);
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];
Vec4b& dstcol = dsty[x];
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]);
}
}
LOG2("createfinal:", clock() - start);
}
} // namespace gpu
} // namespace cv
#endif // #if !defined (HAVE_CUDA)
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