feat: medianBlur & bilateralFilter

Junyan721113 · Junyan721113 · commit bf7ab8eebdf6 · 2024-10-28T17:54:45.000+08:00
diff --git a/3rdparty/ndsrvp/include/imgproc.hpp b/3rdparty/ndsrvp/include/imgproc.hpp
@@ -101,6 +101,24 @@ int filterFree(cvhalFilter2D *context);
 #undef cv_hal_filterFree
 #define cv_hal_filterFree (cv::ndsrvp::filterFree)
 
+// ################ medianBlur ################
+
+int medianBlur(const uchar* src_data, size_t src_step,
+    uchar* dst_data, size_t dst_step,
+    int width, int height, int depth, int cn, int ksize);
+
+#undef cv_hal_medianBlur
+#define cv_hal_medianBlur (cv::ndsrvp::medianBlur)
+
+// ################ bilateralFilter ################
+
+int bilateralFilter(const uchar* src_data, size_t src_step,
+    uchar* dst_data, size_t dst_step, int width, int height, int depth,
+    int cn, int d, double sigma_color, double sigma_space, int border_type);
+
+#undef cv_hal_bilateralFilter
+#define cv_hal_bilateralFilter (cv::ndsrvp::bilateralFilter)
+
 } // namespace ndsrvp
 
 } // namespace cv
diff --git a/3rdparty/ndsrvp/src/bilateralFilter.cpp b/3rdparty/ndsrvp/src/bilateralFilter.cpp
@@ -0,0 +1,270 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "ndsrvp_hal.hpp"
+#include "opencv2/imgproc/hal/interface.h"
+#include "cvutils.hpp"
+
+namespace cv {
+
+namespace ndsrvp {
+
+static void bilateralFilterProcess(uchar* dst_data, size_t dst_step, uchar* pad_data, size_t pad_step,
+    int width, int height, int cn, int radius, int maxk,
+    int* space_ofs, float *space_weight, float *color_weight)
+{
+    int i, j, k;
+
+    for( i = 0; i < height; i++ )
+    {
+        const uchar* sptr = pad_data + (i + radius) * pad_step + radius * cn;
+        uchar* dptr = dst_data + i * dst_step;
+
+        if( cn == 1 )
+        {
+            std::vector<float> buf(width + width, 0.0);
+            float *sum = &buf[0];
+            float *wsum = sum + width;
+            k = 0;
+            for(; k <= maxk-4; k+=4)
+            {
+                const uchar* ksptr0 = sptr + space_ofs[k];
+                const uchar* ksptr1 = sptr + space_ofs[k+1];
+                const uchar* ksptr2 = sptr + space_ofs[k+2];
+                const uchar* ksptr3 = sptr + space_ofs[k+3];
+                j = 0;
+                for (; j < width; j++)
+                {
+                    int rval = sptr[j];
+
+                    int val = ksptr0[j];
+                    float w = space_weight[k] * color_weight[std::abs(val - rval)];
+                    wsum[j] += w;
+                    sum[j] += val * w;
+
+                    val = ksptr1[j];
+                    w = space_weight[k+1] * color_weight[std::abs(val - rval)];
+                    wsum[j] += w;
+                    sum[j] += val * w;
+
+                    val = ksptr2[j];
+                    w = space_weight[k+2] * color_weight[std::abs(val - rval)];
+                    wsum[j] += w;
+                    sum[j] += val * w;
+
+                    val = ksptr3[j];
+                    w = space_weight[k+3] * color_weight[std::abs(val - rval)];
+                    wsum[j] += w;
+                    sum[j] += val * w;
+                }
+            }
+            for(; k < maxk; k++)
+            {
+                const uchar* ksptr = sptr + space_ofs[k];
+                j = 0;
+                for (; j < width; j++)
+                {
+                    int val = ksptr[j];
+                    float w = space_weight[k] * color_weight[std::abs(val - sptr[j])];
+                    wsum[j] += w;
+                    sum[j] += val * w;
+                }
+            }
+            j = 0;
+            for (; j < width; j++)
+            {
+                // overflow is not possible here => there is no need to use cv::saturate_cast
+                ndsrvp_assert(fabs(wsum[j]) > 0);
+                dptr[j] = (uchar)(sum[j] / wsum[j] + 0.5);
+            }
+        }
+        else
+        {
+            ndsrvp_assert( cn == 3 );
+            std::vector<float> buf(width * 3 + width);
+            float *sum_b = &buf[0];
+            float *sum_g = sum_b + width;
+            float *sum_r = sum_g + width;
+            float *wsum = sum_r + width;
+            k = 0;
+            for(; k <= maxk-4; k+=4)
+            {
+                const uchar* ksptr0 = sptr + space_ofs[k];
+                const uchar* ksptr1 = sptr + space_ofs[k+1];
+                const uchar* ksptr2 = sptr + space_ofs[k+2];
+                const uchar* ksptr3 = sptr + space_ofs[k+3];
+                const uchar* rsptr = sptr;
+                j = 0;
+                for(; j < width; j++, rsptr += 3, ksptr0 += 3, ksptr1 += 3, ksptr2 += 3, ksptr3 += 3)
+                {
+                    int rb = rsptr[0], rg = rsptr[1], rr = rsptr[2];
+
+                    int b = ksptr0[0], g = ksptr0[1], r = ksptr0[2];
+                    float w = space_weight[k] * color_weight[std::abs(b - rb) + std::abs(g - rg) + std::abs(r - rr)];
+                    wsum[j] += w;
+                    sum_b[j] += b * w; sum_g[j] += g * w; sum_r[j] += r * w;
+
+                    b = ksptr1[0]; g = ksptr1[1]; r = ksptr1[2];
+                    w = space_weight[k+1] * color_weight[std::abs(b - rb) + std::abs(g - rg) + std::abs(r - rr)];
+                    wsum[j] += w;
+                    sum_b[j] += b * w; sum_g[j] += g * w; sum_r[j] += r * w;
+
+                    b = ksptr2[0]; g = ksptr2[1]; r = ksptr2[2];
+                    w = space_weight[k+2] * color_weight[std::abs(b - rb) + std::abs(g - rg) + std::abs(r - rr)];
+                    wsum[j] += w;
+                    sum_b[j] += b * w; sum_g[j] += g * w; sum_r[j] += r * w;
+
+                    b = ksptr3[0]; g = ksptr3[1]; r = ksptr3[2];
+                    w = space_weight[k+3] * color_weight[std::abs(b - rb) + std::abs(g - rg) + std::abs(r - rr)];
+                    wsum[j] += w;
+                    sum_b[j] += b * w; sum_g[j] += g * w; sum_r[j] += r * w;
+                }
+            }
+            for(; k < maxk; k++)
+            {
+                const uchar* ksptr = sptr + space_ofs[k];
+                const uchar* rsptr = sptr;
+                j = 0;
+                for(; j < width; j++, ksptr += 3, rsptr += 3)
+                {
+                    int b = ksptr[0], g = ksptr[1], r = ksptr[2];
+                    float w = space_weight[k] * color_weight[std::abs(b - rsptr[0]) + std::abs(g - rsptr[1]) + std::abs(r - rsptr[2])];
+                    wsum[j] += w;
+                    sum_b[j] += b * w; sum_g[j] += g * w; sum_r[j] += r * w;
+                }
+            }
+            j = 0;
+            for(; j < width; j++)
+            {
+                ndsrvp_assert(fabs(wsum[j]) > 0);
+                wsum[j] = 1.f / wsum[j];
+                *(dptr++) = (uchar)(sum_b[j] * wsum[j] + 0.5);
+                *(dptr++) = (uchar)(sum_g[j] * wsum[j] + 0.5);
+                *(dptr++) = (uchar)(sum_r[j] * wsum[j] + 0.5);
+            }
+        }
+    }
+}
+
+int bilateralFilter(const uchar* src_data, size_t src_step,
+    uchar* dst_data, size_t dst_step, int width, int height, int depth,
+    int cn, int d, double sigma_color, double sigma_space, int border_type)
+{
+    if( depth != CV_8U || !(cn == 1 || cn == 3) || src_data == dst_data)
+        return CV_HAL_ERROR_NOT_IMPLEMENTED;
+
+    int i, j, maxk, radius;
+
+    if( sigma_color <= 0 )
+        sigma_color = 1;
+    if( sigma_space <= 0 )
+        sigma_space = 1;
+
+    double gauss_color_coeff = -0.5/(sigma_color * sigma_color);
+    double gauss_space_coeff = -0.5/(sigma_space * sigma_space);
+
+    if( d <= 0 )
+        radius = (int)(sigma_space * 1.5 + 0.5);
+    else
+        radius = d / 2;
+
+    radius = MAX(radius, 1);
+    d = radius * 2 + 1;
+
+    // no enough submatrix info
+    // fetch original image data
+    const uchar *ogn_data = src_data;
+    int ogn_step = src_step;
+
+    // ROI fully used in the computation
+    int cal_width = width + d - 1;
+    int cal_height = height + d - 1;
+    int cal_x = 0 - radius; // negative if left border exceeded
+    int cal_y = 0 - radius; // negative if top border exceeded
+
+    // calculate source border
+    std::vector<uchar> padding;
+    padding.resize(cal_width * cal_height * cn);
+    uchar* pad_data = &padding[0];
+    int pad_step = cal_width * cn;
+
+    uchar* pad_ptr;
+    const uchar* ogn_ptr;
+    std::vector<uchar> vec_zeros(cn, 0);
+    for(i = 0; i < cal_height; i++)
+    {
+        int y = borderInterpolate(i + cal_y, height, border_type);
+        if(y < 0) {
+            memset(pad_data + i * pad_step, 0, cn * cal_width);
+            continue;
+        }
+
+        // left border
+        j = 0;
+        for(; j + cal_x < 0; j++)
+        {
+            int x = borderInterpolate(j + cal_x, width, border_type);
+            if(x < 0) // border constant return value -1
+                ogn_ptr = &vec_zeros[0];
+            else
+                ogn_ptr = ogn_data + y * ogn_step + x * cn;
+            pad_ptr = pad_data + i * pad_step + j * cn;
+            memcpy(pad_ptr, ogn_ptr, cn);
+        }
+
+        // center
+        int rborder = MIN(cal_width, width - cal_x);
+        ogn_ptr = ogn_data + y * ogn_step + (j + cal_x) * cn;
+        pad_ptr = pad_data + i * pad_step + j * cn;
+        memcpy(pad_ptr, ogn_ptr, cn * (rborder - j));
+
+        // right border
+        j = rborder;
+        for(; j < cal_width; j++)
+        {
+            int x = borderInterpolate(j + cal_x, width, border_type);
+            if(x < 0) // border constant return value -1
+                ogn_ptr = &vec_zeros[0];
+            else
+                ogn_ptr = ogn_data + y * ogn_step + x * cn;
+            pad_ptr = pad_data + i * pad_step + j * cn;
+            memcpy(pad_ptr, ogn_ptr, cn);
+        }
+    }
+
+    std::vector<float> _color_weight(cn * 256);
+    std::vector<float> _space_weight(d * d);
+    std::vector<int> _space_ofs(d * d);
+    float* color_weight = &_color_weight[0];
+    float* space_weight = &_space_weight[0];
+    int* space_ofs = &_space_ofs[0];
+
+    // initialize color-related bilateral filter coefficients
+
+    for( i = 0; i < 256 * cn; i++ )
+        color_weight[i] = (float)std::exp(i * i * gauss_color_coeff);
+
+    // initialize space-related bilateral filter coefficients
+    for( i = -radius, maxk = 0; i <= radius; i++ )
+    {
+        j = -radius;
+
+        for( ; j <= radius; j++ )
+        {
+            double r = std::sqrt((double)i * i + (double)j * j);
+            if( r > radius )
+                continue;
+            space_weight[maxk] = (float)std::exp(r * r * gauss_space_coeff);
+            space_ofs[maxk++] = (int)(i * pad_step + j * cn);
+        }
+    }
+
+    bilateralFilterProcess(dst_data, dst_step, pad_data, pad_step, width, height, cn, radius, maxk, space_ofs, space_weight, color_weight);
+
+    return CV_HAL_ERROR_OK;
+}
+
+} // namespace ndsrvp
+
+} // namespace cv
diff --git a/3rdparty/ndsrvp/src/filter.cpp b/3rdparty/ndsrvp/src/filter.cpp
@@ -132,8 +132,8 @@ int filter(cvhalFilter2D *context,
     // ROI fully used in the computation
     int cal_width = width + ctx->kernel_width - 1;
     int cal_height = height + ctx->kernel_height - 1;
-    int cal_x = offset_x - ctx->anchor_x;
-    int cal_y = offset_y - ctx->anchor_y;
+    int cal_x = offset_x - ctx->anchor_x; // negative if left border exceeded
+    int cal_y = offset_y - ctx->anchor_y; // negative if top border exceeded
 
     // calculate source border
     ctx->padding.resize(cal_width * cal_height * cnes);
diff --git a/3rdparty/ndsrvp/src/medianBlur.cpp b/3rdparty/ndsrvp/src/medianBlur.cpp
