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- Fix for pathological case in canny edge
* Thanks Lucaro for finding the bug * improved canny edge unit tests - Cleared up documentation in edge non-maximum suppression - Basic mean-shift segmentation is working, but needs additional work to produce more meaningful results * visualization code
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main/feature/src/boofcv/alg/segmentation/MergeRegionMeanShiftGray.java
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| /* | ||
| * Copyright (c) 2011-2013, Peter Abeles. All Rights Reserved. | ||
| * | ||
| * This file is part of BoofCV (http://boofcv.org). | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
||
| package boofcv.alg.segmentation; | ||
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| import boofcv.alg.filter.binary.BinaryImageOps; | ||
| import boofcv.struct.image.ImageSInt32; | ||
| import org.ddogleg.struct.GrowQueue_F32; | ||
| import org.ddogleg.struct.GrowQueue_I32; | ||
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|
||
| /** | ||
| * In a region with uniform color, mean-shift segmentation will produce lots of regions with identical colors since they | ||
| * are all local maximums. This will find all such neighbors and merge them into one group. For each | ||
| * pixel it checks its 4-connect neighbors to see if they are in the same region or not. If not in the same | ||
| * region it checks to see if their peaks have the same color to within tolerance. If so a mark will be | ||
| * made in an integer list of regions that one should be merged into another. A check is made to see | ||
| * if the region it is merged into doesn't merge into another one. If it does a link will be made directly to | ||
| * the last one it gets merged into. | ||
| * | ||
| * @author Peter Abeles | ||
| */ | ||
| public class MergeRegionMeanShiftGray { | ||
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| // list used to convert the original region ID's into their new compacted ones | ||
| protected GrowQueue_I32 mergeList = new GrowQueue_I32(); | ||
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| // How similar two region's pixel intensity values need to be for them to be merged | ||
| protected float tolerance; | ||
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| public MergeRegionMeanShiftGray(float tolerance) { | ||
| this.tolerance = tolerance; | ||
| } | ||
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| public void merge( ImageSInt32 pixelToRegion , GrowQueue_I32 regionMemberCount , GrowQueue_F32 regionColor ) | ||
| { | ||
| // see which ones need to be merged into which ones | ||
| createMergeList(pixelToRegion, regionColor); | ||
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| // update member counts | ||
| updateMemberCount(regionMemberCount); | ||
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| // compact the region id's | ||
| compactRegionId(regionMemberCount, regionColor); | ||
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| // update the pixelToregion | ||
| for( int i = 0; i < mergeList.size; i++ ) { | ||
| if( mergeList.data[i] == -1 ) | ||
| mergeList.data[i] = i; | ||
| } | ||
| BinaryImageOps.relabel(pixelToRegion, mergeList.data); | ||
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| } | ||
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| /** | ||
| * After merging regions there is likely to be many unused regions. This removes those unused regions | ||
| * and updates all references. | ||
| * | ||
| * mergeList is changed to use the new compacted IDs. the two input lists are compacted. | ||
| */ | ||
| protected void compactRegionId(GrowQueue_I32 regionMemberCount, GrowQueue_F32 regionColor) { | ||
| int offset = 0; | ||
| for( int i = 0; i < mergeList.size; i++ ) { | ||
| int w = mergeList.data[i]; | ||
| if( w == -1 ){ | ||
| // see if there is a need to change anything | ||
| if( offset == 0 ) | ||
| continue; | ||
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| // find all references to the original region and change it to the new index | ||
| int dst = i-offset; | ||
| for( int j = 0; j < mergeList.size; j++ ) { | ||
| if( mergeList.data[j] == i ) { | ||
| mergeList.data[j] = dst; | ||
| } | ||
| } | ||
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| // shift over data which describes the region | ||
| regionMemberCount.data[dst] = regionMemberCount.data[i]; | ||
| regionColor.data[dst] = regionColor.data[i]; | ||
| } else { | ||
| // skip over these since it will be over written later | ||
| offset++; | ||
| } | ||
| } | ||
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| regionMemberCount.size -= offset; | ||
| regionColor.size -= offset; | ||
| } | ||
|
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| /** | ||
| * Adds the counts of all the regions that refer to others. | ||
| */ | ||
| protected void updateMemberCount(GrowQueue_I32 regionMemberCount) { | ||
| for( int i = 0; i < mergeList.size; i++ ) { | ||
| int w = mergeList.data[i]; | ||
| if( w != -1 ) { | ||
| regionMemberCount.data[w] += regionMemberCount.data[i]; | ||
| } | ||
| } | ||
| } | ||
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| /** | ||
| * Checks the 4-connect of each pixel to see if it references a different region. If it does it checks to | ||
| * see if their pixel intensity values are within tolerance of each other. If so they are then marked for | ||
| * merging. | ||
| */ | ||
| private void createMergeList(ImageSInt32 pixelToregion, GrowQueue_F32 regionColor) { | ||
| // merge the merge list as initial all no merge | ||
| mergeList.resize(regionColor.getSize()); | ||
| for( int i = 0; i < mergeList.size; i++ ) { | ||
| mergeList.data[i] = -1; | ||
| } | ||
|
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||
| // TODO handle border case | ||
| for( int y = 0; y < pixelToregion.height-1; y++ ) { | ||
| int pixelIndex = y*pixelToregion.width; | ||
| for( int x = 0; x < pixelToregion.width-1; x++ , pixelIndex++) { | ||
| int a = pixelToregion.data[pixelIndex]; | ||
| int b = pixelToregion.data[pixelIndex+1]; // pixel +1 x | ||
| int c = pixelToregion.data[pixelIndex+pixelToregion.width]; // pixel +1 y | ||
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| float colorA = regionColor.get(a); | ||
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| if( a != b ) { | ||
| float colorB = regionColor.get(b); | ||
| boolean merge = Math.abs(colorA-colorB) <= tolerance; | ||
| if( merge ) { | ||
| checkMerge(a,b); | ||
| } | ||
| } | ||
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| if( a != c ) { | ||
| float colorC = regionColor.get(c); | ||
| boolean merge = Math.abs(colorA-colorC) <= tolerance; | ||
| if( merge ) { | ||
| checkMerge(a,c); | ||
| } | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| /** | ||
| * Two pixels have been found to have regions of similar color and are not the same region. This will mark | ||
| * one region as being merged into the other. If one or both have already been previously merged then | ||
| * they will point to one of their end destinations. | ||
| * | ||
| * This procedure ensures that any merge reference will be at most one deep. E.g. nothing like A -> B -> C | ||
| */ | ||
| protected void checkMerge( int regionA , int regionB ) { | ||
| boolean alreadyA = mergeList.data[regionA] != -1; | ||
| boolean alreadyB = mergeList.data[regionB] != -1; | ||
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| if( alreadyA && alreadyB ) { | ||
| // if they already point to the same one, do nothing | ||
| if( mergeList.data[regionB] != mergeList.data[regionA] ) { | ||
| // put B into A, arbitrary choice | ||
| // don't point to A instead point to A's destination | ||
| int dstA = mergeList.data[regionA]; | ||
| int dstB = mergeList.data[regionB]; | ||
| // look for all reference to B and change to A | ||
| for( int i = 0; i < mergeList.size; i++ ) { | ||
| if( mergeList.data[i] == dstB ) | ||
| mergeList.data[i] = dstA; | ||
| } | ||
| } | ||
|
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| } else if( alreadyA ) { | ||
| // have B link to the same one as A | ||
| mergeList.data[regionB] = mergeList.data[regionA]; | ||
| } else if( alreadyB ) { | ||
| // have A link to the same one as B | ||
| mergeList.data[regionA] = mergeList.data[regionB]; | ||
| } else { | ||
| // have B point to A, arbitrary choice | ||
| mergeList.data[regionB] = regionA; | ||
| } | ||
| } | ||
| } |
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