| 56 | using namespace cv::gpu; |
| 57 | using namespace pcl::cuda::detail; |
| 58 | void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int minsize, DjSets &comps, TermCriteria criteria) |
| 59 | |
| 60 | { |
| 61 | CV_Assert(TargetArchs::builtWith(FEATURE_SET_COMPUTE_12) && DeviceInfo().supports(FEATURE_SET_COMPUTE_12)); |
| 62 | |
| 63 | CV_Assert(src.type() == CV_8UC4); |
| 64 | const int nrows = src.rows; |
| 65 | const int ncols = src.cols; |
| 66 | const int hr = sr; |
| 67 | const int hsp = sp; |
| 68 | |
| 69 | // Perform mean shift procedure and obtain region and spatial maps |
| 70 | GpuMat h_rmap, h_spmap; |
| 71 | meanShiftProc(src, h_rmap, h_spmap, sp, sr, criteria); |
| 72 | Mat rmap = (Mat)h_rmap; |
| 73 | Mat spmap = (Mat)h_spmap; |
| 74 | |
| 75 | Graph<SegmLinkVal> g(nrows * ncols, 4 * (nrows - 1) * (ncols - 1) |
| 76 | + (nrows - 1) + (ncols - 1)); |
| 77 | |
| 78 | // Make region adjacent graph from image |
| 79 | Vec4b r1; |
| 80 | Vec4b r2[4]; |
| 81 | Vec2s sp1; |
| 82 | Vec2s sp2[4]; |
| 83 | int dr[4]; |
| 84 | int dsp[4]; |
| 85 | for (int y = 0; y < nrows - 1; ++y) |
| 86 | { |
| 87 | Vec4b* ry = rmap.ptr<Vec4b>(y); |
| 88 | Vec4b* ryp = rmap.ptr<Vec4b>(y + 1); |
| 89 | Vec2s* spy = spmap.ptr<Vec2s>(y); |
| 90 | Vec2s* spyp = spmap.ptr<Vec2s>(y + 1); |
| 91 | for (int x = 0; x < ncols - 1; ++x) |
| 92 | { |
| 93 | r1 = ry[x]; |
| 94 | sp1 = spy[x]; |
| 95 | |
| 96 | r2[0] = ry[x + 1]; |
| 97 | r2[1] = ryp[x]; |
| 98 | r2[2] = ryp[x + 1]; |
| 99 | r2[3] = ryp[x]; |
| 100 | |
| 101 | sp2[0] = spy[x + 1]; |
| 102 | sp2[1] = spyp[x]; |
| 103 | sp2[2] = spyp[x + 1]; |
| 104 | sp2[3] = spyp[x]; |
| 105 | |
| 106 | dr[0] = dist2(r1, r2[0]); |
| 107 | dr[1] = dist2(r1, r2[1]); |
| 108 | dr[2] = dist2(r1, r2[2]); |
| 109 | dsp[0] = dist2(sp1, sp2[0]); |
| 110 | dsp[1] = dist2(sp1, sp2[1]); |
| 111 | dsp[2] = dist2(sp1, sp2[2]); |
| 112 | |
| 113 | r1 = ry[x + 1]; |
| 114 | sp1 = spy[x + 1]; |
| 115 | |