diff --git a/components/rgbd-sources/include/ftl/cb_segmentation.hpp b/components/rgbd-sources/include/ftl/cb_segmentation.hpp
index 64e22402a18af8b8cd778689104988427c1201ab..75ec0bdc4c7c7c8c67ee77a05e808fb439961f8d 100644
--- a/components/rgbd-sources/include/ftl/cb_segmentation.hpp
+++ b/components/rgbd-sources/include/ftl/cb_segmentation.hpp
@@ -71,21 +71,31 @@ protected:
bool brightness(CBSegmentation::Pixel &pixel, float alpha, float beta);
bool depthdiff(CBSegmentation::Pixel &pixel, float sigma);
- inline int freq() { return f; }
+ inline int freq() { return f; }
inline long getLambda() { return lambda; }
inline long ctime() { return p; }
inline long atime() { return q; }
};
- enum EntryType { EMPTY, H, M };
+ enum EntryType { H, M };
- struct Entry {
- EntryType type = EMPTY;
- CBSegmentation::Codeword cw;
+ union Entry {
+ char size;
+ struct Data {
+ EntryType type;
+ CBSegmentation::Codeword cw;
+ } data ;
};
- bool processPixel(Pixel &px, Codeword *codeword=nullptr);
+ struct CompareEntry{
+ bool operator()(const Entry &a,const Entry &b) const{
+ return !((a.data.type == M && b.data.type == H) ||
+ (a.data.cw.f < b.data.cw.f));
+ }
+ };
+ bool processPixel(Pixel &px, Codeword *codeword=nullptr);
+
size_t width_;
size_t height_;
size_t size_;
@@ -101,8 +111,7 @@ protected:
private:
long t_ = 1;
- std::vector<Entry> cb_;
-
+ std::vector<Entry> cb_;
};
}
\ No newline at end of file
diff --git a/components/rgbd-sources/src/cb_segmentation.cpp b/components/rgbd-sources/src/cb_segmentation.cpp
index 32f56fc82fd3397054dc68f07a7de3d1249c2bdb..f6f5fc2b2093b25fda6fd4554eb6e4bc04eef472 100644
--- a/components/rgbd-sources/src/cb_segmentation.cpp
+++ b/components/rgbd-sources/src/cb_segmentation.cpp
@@ -1,5 +1,6 @@
#include "ftl/cb_segmentation.hpp"
+#include<algorithm>
#include <math.h>
using cv::Mat;
@@ -72,6 +73,7 @@ bool CBSegmentation::Codeword::colordiff(CBSegmentation::Pixel &px, float epsilo
// "Algorithm for codebook construction"
//
bool CBSegmentation::Codeword::brightness(CBSegmentation::Pixel &px, float alpha, float beta) {
+ return true;
float i_low = alpha * i_max;
float i_hi = min(beta * i_max, i_min / alpha);
return (i_low <= px.i) && (px.i <= i_hi);
@@ -81,30 +83,33 @@ CBSegmentation::CBSegmentation(
char codebook_size, size_t width, size_t height,
float alpha, float beta, float epsilon, float sigma,
int T_h, int T_add, int T_del) :
- size_(codebook_size), width_(width), height_(height),
+ size_(codebook_size + 1), width_(width), height_(height),
alpha_(alpha), beta_(beta), epsilon_(epsilon), sigma_(sigma),
T_h_(T_h), T_add_(T_add), T_del_(T_del) {
- cb_ = vector<Entry>(width * height * codebook_size);
+ cb_ = vector<Entry>(width * height * size_);
+ for (size_t i = 0; i < cb_.size(); i += size_) {
+ cb_[i].size = 0;
+ }
}
bool CBSegmentation::processPixel(CBSegmentation::Pixel &px, CBSegmentation::Codeword *codeword) {
- CBSegmentation::Entry *entry = &cb_[size_ * px.idx];
- CBSegmentation::Entry *const end = &cb_[size_ * px.idx + size_];
-
- // pointers to where to place new entries (in preference order)
- CBSegmentation::Entry *empty_entry = nullptr;
- CBSegmentation::Entry *lru = nullptr;
- //CBSegmentation::Entry *lru_h = nullptr;
- //CBSegmentation::Entry *lru_m = nullptr;
+ char &size = cb_[size_ * px.idx].size;
+ size_t idx_begin = size_ * px.idx + 1;
+
+ CBSegmentation::Entry::Data *start = &(cb_[idx_begin].data);
+ CBSegmentation::Entry::Data *entry = start;
+
+ CBSegmentation::Entry::Data *lru = nullptr;
+ CBSegmentation::Entry::Data *lfu = nullptr;
- // TODO: possible (micro-)optimization: keep codewords in M, H, EMPTY order
+ // TODO: benchmark sorting
// if value is found (in M or H), loop exits early and no further maintenance
- // is done. Maintenance can happen when codeword is not found and all entries
+ // is done. Maintenance may happen when codeword is not found and all entries
// are evaluated.
- for (; entry != end; entry++) {
+ for (int i = 0; i < size; i++) {
if (entry->type == M) {
// matching codeword, update and return
if (entry->cw.brightness(px, alpha_, beta_) && entry->cw.colordiff(px, epsilon_)) {
@@ -113,16 +118,19 @@ bool CBSegmentation::processPixel(CBSegmentation::Pixel &px, CBSegmentation::Cod
return true;
}
- // delete if not accessed for longer time than T_del
+ // delete (move last to here) if not accessed for longer time than T_del
if ((px.t - entry->cw.atime()) > T_del_) {
- entry->type = EMPTY;
- empty_entry = entry;
+ size--;
+ *entry = *(start + size);
+ //std::sort( cb_.begin() + idx_begin,
+ // cb_.begin() + idx_begin + size,
+ // CompareEntry());
continue;
}
- // update LRU
- if (!lru || lru->cw.atime() > entry->cw.atime()) {
- lru = entry;
+ // update LFU
+ if (!lfu || lfu->cw.freq() > entry->cw.freq()) {
+ lfu = entry;
}
}
else if (entry->type == H) {
@@ -133,6 +141,9 @@ bool CBSegmentation::processPixel(CBSegmentation::Pixel &px, CBSegmentation::Cod
// should be moved to M? if so, move and return true
if ((px.t - entry->cw.ctime()) > T_add_) {
entry->type = M;
+ //std::sort( cb_.begin() + idx_begin,
+ // cb_.begin() + idx_begin + size,
+ // CompareEntry());
return true;
}
else {
@@ -140,10 +151,10 @@ bool CBSegmentation::processPixel(CBSegmentation::Pixel &px, CBSegmentation::Cod
}
}
- // delete if lambda gt T_h
- if (entry->cw.getLambda() > T_del_) {
- entry->type = EMPTY;
- empty_entry = entry;
+ // delete if lambda lt T_h
+ if (entry->cw.getLambda() < T_h_) {
+ size--;
+ *entry = *(start + size);
continue;
}
@@ -152,21 +163,27 @@ bool CBSegmentation::processPixel(CBSegmentation::Pixel &px, CBSegmentation::Cod
lru = entry;
}
}
- else {
- empty_entry = entry;
- }
}
- // not found, create new codeword (to empty position or lru h/m)
- // TODO: should lru be used without prioritization?
- if (empty_entry) {
- empty_entry->type = H;
- empty_entry->cw.set(px);
+ // not found, create new codeword (to empty position or lru h or lfu m)
+ // TODO: Should not prefer H codewords over M codewords?
+ if (size < (size_ - 1)) {
+ entry = start + size;
+ size++;
+ entry->type = H;
+ entry->cw.set(px);
}
- else {
+ else if (lru) {
lru->type = H;
lru->cw.set(px);
}
+ else {
+ lfu->type = H;
+ lfu->cw.set(px);
+ }
+
+ // sort anyways (frequencies may have changed during earlier iterations)
+ //std::sort(cb_.begin() + idx_begin, cb_.begin() + idx_begin + size, CompareEntry());
return false;
}
@@ -177,17 +194,20 @@ void CBSegmentation::apply(Mat &in, Mat &out) {
out = Mat(height_, width_, CV_8UC1, cv::Scalar(0));
}
+ // TODO: thread pool, queue N rows
#pragma omp parallel for
for (int y = 0; y < height_; ++y) {
size_t idx = y * width_;
- uchar *ptr = in.ptr<uchar>(y);
- for (int x = 0; x < width_; ++x, ++idx, ptr = ptr + 3) {
- auto px = Pixel(idx, ptr, 0, t_);
+ uchar *ptr_in = in.ptr<uchar>(y);
+ uchar *ptr_out = out.ptr<uchar>(y);
+
+ for (int x = 0; x < width_; ++x, ++idx, ptr_in += 3) {
+ auto px = Pixel(idx, ptr_in, 0, t_);
if(processPixel(px)) {
- out.data[idx] = 0;
+ ptr_out[x] = 0;
}
else {
- out.data[idx] = 255;
+ ptr_out[x] = 255;
}
}
}