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use parallel_for_ compatible with opencv3
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@yan796
yan796 committed Jun 18, 2015
1 parent dd55e2e commit ea6af11
Showing 1 changed file with 171 additions and 134 deletions.
305 changes: 171 additions & 134 deletions c++/Lib/src/libTILDE.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
// Created: Tue Mar 3 17:53:46 2015 (+0100)
// Version: 0.5a
// Package-Requires: ()
// Last-Updated: Tue Jun 16 17:25:55 2015 (+0200)
// Last-Updated: Thu May 28 13:18:32 2015 (+0200)
// By: Kwang
// Update #: 41
// Update #: 40
// URL:
// Doc URL:
// Keywords:
Expand Down Expand Up @@ -53,99 +53,118 @@ vector < Mat > getLuv_fast(const Mat & input_color_image)
}

//init
const float y0=(float) ((6.0/29)*(6.0/29)*(6.0/29));
const float a= (float) ((29.0/3)*(29.0/3)*(29.0/3));
const double XYZ[3][3] = { { 0.430574, 0.341550, 0.178325 },
{ 0.222015, 0.706655, 0.071330 },
{ 0.020183, 0.129553, 0.939180 } };

const double Un_prime = 0.197833;
const double Vn_prime = 0.468331;
const double maxi = 1.0/270;
const double minu = -88*maxi;
const double minv = -134*maxi;
const double Lt = 0.008856;

class classRGB2LUV :public ParallelLoopBody
{
public:
classRGB2LUV(const Mat& imgIn_, const vector<Mat>* vecOut_)
: imgIn(imgIn_), vecOut(vecOut_)
{
for(int i=0; i<1025; i++)
{
float y = (float) (i/1024.0);
float l = y>y0 ? 116*(float)pow((double)y,1.0/3.0)-16 : y*a;
lTable[i] = l*maxi;
}
};

// adapted from Dollar toolbox
// http://vision.ucsd.edu/~pdollar/toolbox/doc/
// See c++/src/3rdParties/license_dollarToolBox.txt
static float lTable[1064];
for(int i=0; i<1025; i++)
{
float y = (float) (i/1024.0);
float l = y>y0 ? 116*(float)pow((double)y,1.0/3.0)-16 : y*a;
lTable[i] = l*maxi;
}
// ! Overloaded virtual operator
// convert range call to row call.
virtual void operator()(const Range &r) const
{

// Get Max idx using Magnitude
cv::parallel_for( cv::BlockedRange (0, input_color_image.rows), [=] (const cv::BlockedRange &r)
{
Rect roi(0, r.start, imgIn.cols, r.end - r.start);
Mat in(imgIn, roi);

Rect roi(0, r.begin(), input_color_image.cols, r.end() - r.begin());
Mat in(input_color_image, roi);

Mat out1((*vecOut)[0],roi);
Mat out2((*vecOut)[1],roi);
Mat out3((*vecOut)[2],roi);

Mat out1(luvImage[0],roi);
Mat out2(luvImage[1],roi);
Mat out3(luvImage[2],roi);

//Rect roi(0, r.begin(), convt_image[idxDim].cols, r.end() - r.begin());
for (int i = 0; i < in.rows; i++)
{
uchar* pixelin = in.ptr<uchar>(i); // point to first color in row
float* pixelout1 = out1.ptr<float>(i); // point to first color in row
float* pixelout2 = out2.ptr<float>(i); // point to first color in row
float* pixelout3 = out3.ptr<float>(i); // point to first color in row
for (int j = 0; j < in.cols; j++)//row
{
// cv::Vec3b rgb = in.at<cv::Vec3b>(j,i);
// float r = rgb[2] / 255.0f;
// float g = rgb[1] / 255.0f;
// float b = rgb[0] / 255.0f;
float b = *pixelin++ / 255.0f;
float g = *pixelin++ / 255.0f;
float r = *pixelin++ / 255.0f;

//Rect roi(0, r.begin(), convt_image[idxDim].cols, r.end() - r.begin());
for (int i = 0; i < in.rows; i++)
{
uchar* pixelin = in.ptr<uchar>(i); // point to first color in row
float* pixelout1 = out1.ptr<float>(i); // point to first color in row
float* pixelout2 = out2.ptr<float>(i); // point to first color in row
float* pixelout3 = out3.ptr<float>(i); // point to first color in row
for (int j = 0; j < in.cols; j++)//row
{
// cv::Vec3b rgb = in.at<cv::Vec3b>(j,i);
// float r = rgb[2] / 255.0f;
// float g = rgb[1] / 255.0f;
// float b = rgb[0] / 255.0f;
float b = *pixelin++ / 255.0f;
float g = *pixelin++ / 255.0f;
float r = *pixelin++ / 255.0f;
//RGB to LUV conversion

//RGB to LUV conversion

//delcare variables
double x, y, z, u_prime, v_prime, constant, L, u, v;

//convert RGB to XYZ...
x = XYZ[0][0]*r + XYZ[0][1]*g + XYZ[0][2]*b;
y = XYZ[1][0]*r + XYZ[1][1]*g + XYZ[1][2]*b;
z = XYZ[2][0]*r + XYZ[2][1]*g + XYZ[2][2]*b;

//convert XYZ to LUV...

//compute ltable(y*1024)
L = lTable[(int)(y*1024)];

//compute u_prime and v_prime
constant = 1/(x + 15 * y + 3 * z + 1e-35); //=z
//delcare variables
double x, y, z, u_prime, v_prime, constant, L, u, v;

u_prime = (4 * x) * constant; //4*x*z
v_prime = (9 * y) * constant;
//convert RGB to XYZ...
x = XYZ[0][0]*r + XYZ[0][1]*g + XYZ[0][2]*b;
y = XYZ[1][0]*r + XYZ[1][1]*g + XYZ[1][2]*b;
z = XYZ[2][0]*r + XYZ[2][1]*g + XYZ[2][2]*b;


//compute u* and v*
u = (float) (13 * L * (u_prime - Un_prime)) - minu;
v = (float) (13 * L * (v_prime - Vn_prime)) - minv;

// out1.at<float>(j,i) = L*270*2.55;
// out2.at<float>(j,i) = ((u*270-88)+ 134.0)* 255.0 / 354.0;
// out3.at<float>(j,i) = ((v*270-134)+ 140.0)* 255.0 / 256.0;
//convert XYZ to LUV...

*pixelout1++ = L*270*2.55;
*pixelout2++ = ((u*270-88)+ 134.0)* 255.0 / 354.0;
*pixelout3++ = ((v*270-134)+ 140.0)* 255.0 / 256.0;
//compute ltable(y*1024)
L = lTable[(int)(y*1024)];

}
}
//compute u_prime and v_prime
constant = 1/(x + 15 * y + 3 * z + 1e-35); //=z

u_prime = (4 * x) * constant; //4*x*z
v_prime = (9 * y) * constant;


//compute u* and v*
u = (float) (13 * L * (u_prime - Un_prime)) - minu;
v = (float) (13 * L * (v_prime - Vn_prime)) - minv;

});
// out1.at<float>(j,i) = L*270*2.55;
// out2.at<float>(j,i) = ((u*270-88)+ 134.0)* 255.0 / 354.0;
// out3.at<float>(j,i) = ((v*270-134)+ 140.0)* 255.0 / 256.0;

*pixelout1++ = L*270*2.55;
*pixelout2++ = ((u*270-88)+ 134.0)* 255.0 / 354.0;
*pixelout3++ = ((v*270-134)+ 140.0)* 255.0 / 256.0;

}
}


}
private:
const float y0=(float) ((6.0/29)*(6.0/29)*(6.0/29));
const float a= (float) ((29.0/3)*(29.0/3)*(29.0/3));
const double XYZ[3][3] = { { 0.430574, 0.341550, 0.178325 },
{ 0.222015, 0.706655, 0.071330 },
{ 0.020183, 0.129553, 0.939180 } };

const double Un_prime = 0.197833;
const double Vn_prime = 0.468331;
const double maxi = 1.0/270;
const double minu = -88*maxi;
const double minv = -134*maxi;
const double Lt = 0.008856;

//addapted from Dollar toolbox
//http://vision.ucsd.edu/~pdollar/toolbox/doc/

float lTable[1064];

const Mat& imgIn;
const vector<Mat>* vecOut;
};

// Get Max idx using Magnitude
classRGB2LUV LUVconverter(input_color_image,&luvImage);
cv::parallel_for_( cv::Range (0, input_color_image.rows), LUVconverter);

return luvImage;
}
Expand All @@ -170,7 +189,7 @@ vector < Mat > getGrad_fast(const Mat & input_color_image)
vector < Mat > gy(nbChannels);

//the output
vector < Mat > gradImage(3);//,Mat(input_color_image.rows, input_color_image.cols, CV_32F));
vector < Mat > gradImage(3);


// // prepare output
Expand Down Expand Up @@ -206,72 +225,87 @@ vector < Mat > getGrad_fast(const Mat & input_color_image)
//sqrt(gx[idxC].mul(gx[idxC]) + gy[idxC].mul(gy[idxC]), mag[idxC]);
}

cv::parallel_for( cv::BlockedRange (0, input_color_image.rows), [=] (const cv::BlockedRange &r)
{
Rect roi(0, r.begin(), input_color_image.cols, r.end() - r.begin());
vector<Mat> inx( nbChannels);vector<Mat> iny( nbChannels);

for (int idxC = 0; idxC < nbChannels; ++idxC)
{
inx[idxC] = Mat(gx[idxC], roi);
iny[idxC] = Mat(gy[idxC], roi);
}

class classImg2GxGyM :public ParallelLoopBody
{
public:
classImg2GxGyM(const vector<Mat>& vecInGx_, const vector<Mat>& vecInGy_, const vector<Mat>* vecOut_)
: vecInGx(vecInGx_),vecInGy(vecInGy_), vecOut(vecOut_)
{
nbChannels = vecInGx.size();

Mat out1(gradImage[0],roi);
Mat out2(gradImage[1],roi);
Mat out3(gradImage[2],roi);
//Rect roi(0, r.begin(), convt_image[idxDim].cols, r.end() - r.begin());
for (int i = 0; i < inx[0].rows; i++)
{
float* pixelin1[nbChannels];float* pixelin2[nbChannels];
for (int idxC = 0; idxC < nbChannels; ++idxC)
};

// ! Overloaded virtual operator
// convert range call to row call.
virtual void operator()(const Range &r) const
{
pixelin1[idxC] = inx[idxC].ptr<float>(i); // point to first color in row
pixelin2[idxC] = iny[idxC].ptr<float>(i); // point to first color in row
}

float* pixelout1 = out1.ptr<float>(i); // point to first color in row
float* pixelout2 = out2.ptr<float>(i); // point to first color in row
float* pixelout3 = out3.ptr<float>(i); // point to first color in row
for (int j = 0; j < inx[0].cols; j++)//row
{
float maxVal = -1;float maxValx;float maxValy;
float val_squared;
float valx;float valy;
for (int idxC = 0; idxC < nbChannels; ++idxC)
{
valx = *pixelin1[idxC]++;//inx[idxC].at < float >(i, j);
valy = *pixelin2[idxC]++;//iny[idxC].at < float >(i, j);
val_squared = (valx*valx+valy*valy);
if (val_squared > maxVal)
{
maxVal = val_squared ;
maxValx = valx;
maxValy = valy;
}
}
Rect roi(0, r.start, vecInGx[0].cols, r.end - r.start);
vector<Mat> inx( nbChannels);vector<Mat> iny( nbChannels);

// out1.at < float >(j, i) = maxValx * 0.5 + 128.0;
// out2.at < float >(j, i) = maxValy * 0.5 + 128.0;
// out3.at < float >(j, i) = sqrt(maxVal);
for (int idxC = 0; idxC < nbChannels; ++idxC)
{
inx[idxC] = Mat(vecInGx[idxC], roi);
iny[idxC] = Mat(vecInGy[idxC], roi);
}

*pixelout1++ = maxValx * 0.5 + 128.0;
*pixelout2++ = maxValy * 0.5 + 128.0;
*pixelout3++ = sqrt(maxVal);

}
}
Mat out1((*vecOut)[0],roi);
Mat out2((*vecOut)[1],roi);
Mat out3((*vecOut)[2],roi);

}
);
for (int i = 0; i < inx[0].rows; i++)
{
float* pixelin1[nbChannels];float* pixelin2[nbChannels];
for (int idxC = 0; idxC < nbChannels; ++idxC)
{
pixelin1[idxC] = inx[idxC].ptr<float>(i); // point to first color in row
pixelin2[idxC] = iny[idxC].ptr<float>(i); // point to first color in row
}

return gradImage;
}
float* pixelout1 = out1.ptr<float>(i); // point to first color in row
float* pixelout2 = out2.ptr<float>(i); // point to first color in row
float* pixelout3 = out3.ptr<float>(i); // point to first color in row
for (int j = 0; j < inx[0].cols; j++)//row
{
float maxVal = -1;float maxValx;float maxValy;
float val_squared;
float valx;float valy;
for (int idxC = 0; idxC < nbChannels; ++idxC)
{
valx = *pixelin1[idxC]++;//inx[idxC].at < float >(i, j);
valy = *pixelin2[idxC]++;//iny[idxC].at < float >(i, j);
val_squared = (valx*valx+valy*valy);
if (val_squared > maxVal)
{
maxVal = val_squared ;
maxValx = valx;
maxValy = valy;
}
}

*pixelout1++ = maxValx * 0.5 + 128.0;
*pixelout2++ = maxValy * 0.5 + 128.0;
*pixelout3++ = sqrt(maxVal);

}
}
}
private:

int nbChannels;
const vector<Mat>& vecInGx;
const vector<Mat>& vecInGy;
const vector<Mat>* vecOut;
};

classImg2GxGyM GxGyMconverter(gx,gy,&gradImage);
cv::parallel_for_( cv::Range (0, input_color_image.rows), GxGyMconverter);

return gradImage;
}


// Function which return in Keypoint Structure
Expand Down Expand Up @@ -385,7 +419,10 @@ void prepareData_fast(const Mat & indatav,
copy(gradImage.begin(), gradImage.end(), std::back_inserter(*output));

if (indata_resized.channels() == 1)
{
indata_resized.convertTo(indata_resized, CV_32F);
output->push_back(indata_resized);
}
else
{
vector < Mat > luvImage = getLuv_fast(indata_resized);
Expand Down Expand Up @@ -1105,7 +1142,7 @@ vector < Mat > getLuvImage(const Mat & input_color_image)
}

// Get Max idx using Magnitude
// cv::parallel_for( cv::BlockedRange (0, input_color_image.rows), [=] (const cv::BlockedRange &r)
// cv::parallel_for( cv::BlockedRange (0, input_color_image.rows), [=] (const cv::Range &r)
// {

// Rect roi(0, r.begin(), input_color_image.cols, r.end() - r.begin());
Expand Down

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