有阻尼抛物线matlab算距离,bwdistsc 快速距离场计算函数解析

之前的《距离场计算：维度诱导法(dimension-induction)的基本原理》，已经简述了快速距离场计算基本思路，bwdistsc函数是 Yuriy Mishchenko 对上述思路的实现。这里将函数源码做分析与解释。介意结合 Yuriy Mishchenko 论文阅读。

经测试，函数速度相当快，并且计算量与实际问题复杂度相关。若实际问题中物体较为规则，在相同网格数量下，算法执行速度将比复杂拓扑结构物体相比有明显提高。

文章为简明删去了部分原有注释，主要是权利声明等。需要使用函数的话可到上文链接处Mathworks网站下载最新版

声明与输入解析

matlabfunction D=bwdistsc(bw,aspect)

% parse inputs

if(nargin<2 || isempty(aspect)) aspect=[1 1 1]; end

% determine geometry of the data

if(iscell(bw)) shape=[size(bw{1}),length(bw)]; else shape=size(bw); end

% correct this for 2D data

if(length(shape)==2) shape=[shape,1]; end

if(length(aspect)==2) aspect=[aspect,1]; end

% allocate internal memory

D=cell(1,shape(3)); for k=1:shape(3) D{k}=zeros(shape(1:2)); end

以上都是预处理。二维还是三维，网格长宽比是否为1，等等。

计算距离场

matlab%%%%%%%%%%%%% scan along XY %%%%%%%%%%%%%%%%

for k=1:shape(3) %循环，按第三个坐标(z)循环

if(iscell(bw)) bwXY=bw{k}; else bwXY=bw(:,:,k); end

%切片储存在bw中

% initialize arrays

DXY=zeros(shape(1:2));

D1=zeros(shape(1:2));

% if can, use 2D bwdist from image processing toolbox

if(exist('bwdist') && aspect(1)==aspect(2))

D1=aspect(1)^2*bwdist(bwXY).^2;

else % if not, use full XY-scan

计算一维距离场

切成一条一条的计算。一行一行，从第一行向最后一行扫略(从上到下)，再从最后一行向第一行扫略(从下到上)，从而生成了两个记录矩阵。这两个矩阵中每一个网格点记录的值是当前列中，按当前方向扫略的情况下，离自己最近的物体网格点。

下文中"on"-pixel指的是输入bw中数值为1的网格，即认为是有物体的网格

虽然有很多“条”，但是都用了向量化计算，所以这里没有循环语句

matlab% z的循环还在进行

%%%%%%%%%%%%%%% X-SCAN %%%%%%%%%%%%%%%

% reference for nearest "on"-pixel in bw in x direction down

% scan bottow-up (for all y), copy x-reference from previous row

% unless there is "on"-pixel in that point in current row, then

% that is the nearest pixel now

xlower=repmat(Inf,shape(1:2));

xlower(1,find(bwXY(1,:)))=1; % fill in first row

for i=2:shape(1)

xlower(i,:)=xlower(i-1,:); % copy previous row

xlower(i,find(bwXY(i,:)))=i;% unless there is pixel

end

% reference for nearest "on"-pixel in bw in x direction up

xupper=repmat(Inf,shape(1:2));

xupper(end,find(bwXY(end,:)))=shape(1);

for i=shape(1)-1:-1:1

xupper(i,:)=xupper(i+1,:);

xupper(i,find(bwXY(i,:)))=i;

end

% build (X,Y) for points for which distance needs to be calculated

idx=find(~bwXY); [x,y]=ind2sub(shape(1:2),idx);

% update distances as shortest to "on" pixels up/down in the above

% 将两个矩阵合并起来

DXY(idx)=aspect(1)^2*min((x-xlower(idx)).^2,(x-xupper(idx)).^2);

计算二维距离场

matlab% z的循环还在继续

%%%%%%%%%%%%%%% Y-SCAN %%%%%%%%%%%%%%%

% this will be the envelop of parabolas at different y

D1=repmat(Inf,shape(1:2));

p=shape(2);

for i=1:shape(2)

% some auxiliary datasets

% 取出平面上的一列。从左向右按列扫描

% d0中存放的是距离的平方

d0=DXY(:,i);

% selecting starting point for x:

% * if parabolas are incremented in increasing order of y,

% then all below-envelop intervals are necessarily right-

% open, which means starting point can always be chosen

% at the right end of y-axis

% * if starting point exists it should be below existing

% current envelop at the right end of y-axis

dtmp=d0+aspect(2)^2*(p-i)^2;

%均匀网格下，aspect的三个分类分量均为1，可以忽略。写在这里真影响理解……

L=D1(:,p)>dtmp; % 比较D1中的一列与dtmp的大小

%一维数组L中储存的是大小比较的结果量(0或1，认为是bool)

idx=find(L);

D1(idx,p)=dtmp(L); % D1的最后一列被设置为dtmp的一部分(取最小值)

% 上面这几句还可以精简

% these will keep track along which X should

% keep updating distances

map_lower=L;

idx_lower=idx; %储存了dtmp比D1小的那些位置

% scan from starting points down in increments of 1

% 从尾巴开始向前扫描，重复类似上面的比较

% 但是只关心lower位置，下面有解释

for ii=p-1:-1:1

% new values for D

dtmp=d0(idx_lower)+aspect(2)^2*(ii-i)^2;

% these pixels are to be updated

L=D1(idx_lower,ii)>dtmp;

D1(idx_lower(L),ii)=dtmp(L);

% other pixels are removed from scan

map_lower(idx_lower)=L;

idx_lower=idx_lower(L);

if(isempty(idx_lower)) break; end

end

end

end

D{k}=D1;

end %z的循环结束了

从尾巴开始向前扫描，重复类似上面的比较，但是只关心已经包含在lower中的位置。循环中不断缩小lower区域，lower若为空则可以提前结束循环

原因解释

参考论文中引理1,抛物线比下包络线低的位置只可能存在于一个区间，而不会断断续续的存在于多个区间。又由于所有的抛物线二次项系数相等，所以这一区间必定为无穷区间$(-\infty,x)$或者$(x,\infty)$或者$(-\infty,\infty)$(排除完全重合的情况)。如果是$(x,\infty)$的情况，则下面这个从右向左扫描，找到包络线与抛物线交点即不再继续的算法容易理解。

由于上面的i循环是从左往右扫描的，新加入的抛物线要么在包络线右半部分上升段与之相交(上述区间为$(x,\infty)$)，或者整条都低于包络线(上述区间为$(-\infty,\infty)$)。$(-\infty,x)$的情况不存在，因为它已经被扫描方法排除了。可以画图观察。

计算三维距离场

matlab%%%%%%%%%%%%% scan along Z %%%%%%%%%%%%%%%%

% 新建一个跟D一样大的元胞数组D1，用Inf填充

D1=cell(size(D));

for k=1:shape(3)

D1{k}=repmat(Inf,shape(1:2));

end

% start building the envelope

p=shape(3);

for k=1:shape(3)

% if there are no objects in this slice, nothing to do

if(isinf(D{k}(1,1))) %有一个是Inf，即说明这一层里面一个物体点都没找到

continue;

end

下面的算法，跟由一维构建二维方式相同。由于每次在一个维度上做文章，所以无论扩展到多少维度，需要计算的总是只有那么一小撮抛物线，所以算法基本一样。需要的话都能写出递归来。

matlab% selecting starting point for (x,y):

% * if parabolas are incremented in increasing order of k, then all

% intersections are necessarily at the right end of the envelop,

% and so the starting point can be always chosen as the right end

% of the axis

% check which points are valid starting points, & update the envelop

dtmp=D{k}+aspect(3)^2*(p-k)^2;

L=D1{p}>dtmp;

D1{p}(L)=dtmp(L);

% map_lower keeps track of which pixels can be yet updated with the

% new distance, i.e. all such XY that had been under the envelop for

% all Deltak up to now, for Deltak<0

map_lower=L;

% these are maintained to keep fast track of whether map is empty

idx_lower=find(map_lower);

% scan away from the starting points in increments of -1

for kk=p-1:-1:1

% new values for D

dtmp=D{k}(idx_lower)+aspect(3)^2*(kk-k)^2;

% these pixels are to be updated

L=D1{kk}(idx_lower)>dtmp;

map_lower(idx_lower)=L;

D1{kk}(idx_lower(L))=dtmp(L);

% other pixels are removed from scan

idx_lower=idx_lower(L);

if(isempty(idx_lower)) break; end

end

end

% prepare the answer

if(iscell(bw))

D=cell(size(bw));

for k=1:shape(3) D{k}=sqrt(D1{k}); end

else

D=zeros(shape);

for k=1:shape(3) D(:,:,k)=sqrt(D1{k}); end

end

end

计算完成