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