高斯滤波在项目里很常用,尤其是SIFT特征点提取的时候,PCA也要用。
但是原始的高斯滤波是一个二维的卷积,速度很慢。即使采用优化后的分离高斯滤波(先在x方向滤波,然后在y方向滤波),依然不快。
查阅了很多国内外的文献,在项目中实现了递归高斯滤波, 已经量产运行,效果很不错,运行时间是分离高斯滤波的三分之一到四分之一, 也可以运行到MCU里了!!
递归滤波器能近似模拟高斯滤波器,也是分成两次一维滤波,但是不需要设定滤波窗口大小,复杂度跟窗口大小无关,对于一维滤波先进行一次正向滤波,然后进行一次逆向滤波,每次滤波的结果迭代更新。
公式如下:
Forward:
Backward:
代码实现:
- typedef struct
- {
- gint scale;
- gint nscales;
- gint scales_mode;
- gfloat cvar;
- } RetinexParams;
- /*
- * Calculate the coefficients for the recursive filter algorithm
- * Fast Computation of gaussian blurring.
- */
- static void
- compute_coefs3 (gauss3_coefs *c, gfloat sigma)
- {
- /*
- * Papers: "Recursive Implementation of the gaussian filter.",
- * Ian T. Young , Lucas J. Van Vliet, Signal Processing 44, Elsevier 1995.
- * formula: 11b computation of q
- * 8c computation of b0..b1
- * 10 alpha is normalization constant B
- */
- gfloat q, q2, q3;
- q = 0;
- if (sigma >= 2.5)
- {
- q = 0.98711 * sigma - 0.96330;
- }
- else if ((sigma >= 0.5) && (sigma < 2.5))
- {
- q = 3.97156 - 4.14554 * (gfloat) sqrt ((double) 1 - 0.26891 * sigma);
- }
- else
- {
- q = 0.1147705018520355224609375;
- }
- q2 = q * q;
- q3 = q * q2;
- c->b[0] = (1.57825+(2.44413*q)+(1.4281 *q2)+(0.422205*q3));
- c->b[1] = ( (2.44413*q)+(2.85619*q2)+(1.26661 *q3));
- c->b[2] = ( -((1.4281*q2)+(1.26661 *q3)));
- c->b[3] = ( (0.422205*q3));
- c->B = 1.0-((c->b[1]+c->b[2]+c->b[3])/c->b[0]);
- c->sigma = sigma;
- c->N = 3;
- /*
- g_printerr ("q %f\n", q);
- g_printerr ("q2 %f\n", q2);
- g_printerr ("q3 %f\n", q3);
- g_printerr ("c->b[0] %f\n", c->b[0]);
- g_printerr ("c->b[1] %f\n", c->b[1]);
- g_printerr ("c->b[2] %f\n", c->b[2]);
- g_printerr ("c->b[3] %f\n", c->b[3]);
- g_printerr ("c->B %f\n", c->B);
- g_printerr ("c->sigma %f\n", c->sigma);
- g_printerr ("c->N %d\n", c->N);
- */
- }
- static void
- gausssmooth (gfloat *in, gfloat *out, gint size, gint rowstride, gauss3_coefs *c)
- {
- /*
- * Papers: "Recursive Implementation of the gaussian filter.",
- * Ian T. Young , Lucas J. Van Vliet, Signal Processing 44, Elsevier 1995.
- * formula: 9a forward filter
- * 9b backward filter
- * fig7 algorithm
- */
- gint i,n, bufsize;
- gfloat *w1,*w2;
- /* forward pass */
- bufsize = size+3;
- size -= 1;
- w1 = (gfloat *) g_try_malloc (bufsize * sizeof (gfloat));
- w2 = (gfloat *) g_try_malloc (bufsize * sizeof (gfloat));
- w1[0] = in[0];
- w1[1] = in[0];
- w1[2] = in[0];
- for ( i = 0 , n=3; i <= size ; i++, n++)
- {
- w1[n] = (gfloat)(c->B*in[i*rowstride] +
- ((c->b[1]*w1[n-1] +
- c->b[2]*w1[n-2] +
- c->b[3]*w1[n-3] ) / c->b[0]));
- }
- /* backward pass */
- w2[size+1]= w1[size+3];
- w2[size+2]= w1[size+3];
- w2[size+3]= w1[size+3];
- for (i = size, n = i; i >= 0; i--, n--)
- {
- w2[n]= out[i * rowstride] = (gfloat)(c->B*w1[n] +
- ((c->b[1]*w2[n+1] +
- c->b[2]*w2[n+2] +
- c->b[3]*w2[n+3] ) / c->b[0]));
- }
- g_free (w1);
- g_free (w2);
- }
注意边界的处理,这对结果很重要。