speckle filtering added

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -413,6 +413,12 @@ namespace cv
             GpuMat out;
         };        
     }
+
+    //! Speckle filtering - filters small connected components on diparity image.
+    //! It sets pixel (x,y) to newVal if it coresponds to small CC with size < maxSpeckleSize. 
+    //! Threshold for border between CC is diffThreshold;
+    void filterSpeckles( Mat& img, uchar newVal, int maxSpeckleSize, uchar diffThreshold, Mat& buf);
+
 }
 #include "opencv2/gpu/matrix_operations.hpp"
 

modules/gpu/src/matrix_operations.cpp

@@ -164,7 +164,7 @@ GpuMat& GpuMat::setTo(const Scalar& s, const GpuMat& mask)
     else
         impl::set_to_with_mask( *this, depth(), s.val, mask, channels());
 
-    return *this;
+    return *this;   
 }
 
 

modules/gpu/src/speckle_filtering.cpp

+/*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 "precomp.hpp"
+
+using namespace cv;
+
+typedef Point_<short> Point2s;
+
+void cv::filterSpeckles( Mat& img, uchar newVal, int maxSpeckleSize, uchar maxDiff, Mat& _buf)
+{
+    int MaxD = 1024;
+    int WinSz = 64;
+
+    int bufSize0 = (MaxD + 2)*sizeof(int) + (img.rows+WinSz+2)*MaxD*sizeof(int) +
+        (img.rows + WinSz + 2)*sizeof(int) +
+        (img.rows+WinSz+2)*MaxD*(WinSz+1)*sizeof(uchar) + 256;
+    int bufSize1 = (img.cols + 9 + 2) * sizeof(int) + 256;
+    int bufSz = max(bufSize0 * 1, bufSize1 * 2);
+
+    _buf.create(1, bufSz, CV_8U);
+
+    CV_Assert( img.type() == CV_8U );
+
+    int width = img.cols, height = img.rows, npixels = width*height;
+    size_t bufSize = npixels*(int)(sizeof(Point2s) + sizeof(int) + sizeof(uchar));
+    if( !_buf.isContinuous() || !_buf.data || _buf.cols*_buf.rows*_buf.elemSize() < bufSize )
+        _buf.create(1, bufSize, CV_8U);
+
+    uchar* buf = _buf.data;
+    int i, j, dstep = img.step/sizeof(uchar);
+    int* labels = (int*)buf;
+    buf += npixels*sizeof(labels[0]);
+    Point2s* wbuf = (Point2s*)buf;
+    buf += npixels*sizeof(wbuf[0]);
+    uchar* rtype = (uchar*)buf;
+    int curlabel = 0;
+
+    // clear out label assignments
+    memset(labels, 0, npixels*sizeof(labels[0]));
+
+    for( i = 0; i < height; i++ )
+    {
+        uchar* ds = img.ptr<uchar>(i);
+        int* ls = labels + width*i;
+
+        for( j = 0; j < width; j++ )
+        {
+            if( ds[j] != newVal )	// not a bad disparity
+            {
+                if( ls[j] )		// has a label, check for bad label
+                {  
+                    if( rtype[ls[j]] ) // small region, zero out disparity
+                        ds[j] = (uchar)newVal;
+                }
+                // no label, assign and propagate
+                else
+                {
+                    Point2s* ws = wbuf;	// initialize wavefront
+                    Point2s p((short)j, (short)i);	// current pixel
+                    curlabel++;	// next label
+                    int count = 0;	// current region size
+                    ls[j] = curlabel;
+
+                    // wavefront propagation
+                    while( ws >= wbuf ) // wavefront not empty
+                    {
+                        count++;
+                        // put neighbors onto wavefront
+                        uchar* dpp = &img.at<uchar>(p.y, p.x);
+                        uchar dp = *dpp;
+                        int* lpp = labels + width*p.y + p.x;
+
+                        if( p.x < width-1 && !lpp[+1] && dpp[+1] != newVal && std::abs(dp - dpp[+1]) <= maxDiff )
+                        {
+                            lpp[+1] = curlabel;
+                            *ws++ = Point2s(p.x+1, p.y);
+                        }
+
+                        if( p.x > 0 && !lpp[-1] && dpp[-1] != newVal && std::abs(dp - dpp[-1]) <= maxDiff )
+                        {
+                            lpp[-1] = curlabel;
+                            *ws++ = Point2s(p.x-1, p.y);
+                        }
+
+                        if( p.y < height-1 && !lpp[+width] && dpp[+dstep] != newVal && std::abs(dp - dpp[+dstep]) <= maxDiff )
+                        {
+                            lpp[+width] = curlabel;
+                            *ws++ = Point2s(p.x, p.y+1);
+                        }
+
+                        if( p.y > 0 && !lpp[-width] && dpp[-dstep] != newVal && std::abs(dp - dpp[-dstep]) <= maxDiff )
+                        {
+                            lpp[-width] = curlabel;
+                            *ws++ = Point2s(p.x, p.y-1);
+                        }
+
+                        // pop most recent and propagate
+                        // NB: could try least recent, maybe better convergence
+                        p = *--ws;
+                    }
+
+                    // assign label type
+                    if( count <= maxSpeckleSize )	// speckle region
+                    {
+                        //printf("count = %d\n", count);
+                        rtype[ls[j]] = 1;	// small region label
+                        ds[j] = (uchar)newVal;
+                    }
+                    else
+                    {
+                        //printf("count = %d\n", count);
+                        rtype[ls[j]] = 0;	// large region label
+                    }
+                }
+            }
+        }
+    }
+}    
+