图像处理之滤波---滤波在游戏中的应用boxfilter

http://www.yxkfw.com/?p=7810 很有意思的全方位滤波应用

https://developer.nvidia.com/sites/default/files/akamai/gameworks/CN/CGDC14/OpenGL_4.x_for_Mobile_Games_CN.pdf 游戏开发

http://tech.it168.com/a2010/0722/1081/000001081111_all.shtml 医学应用

http://www.ladeng6666.com/blog/2012/11/02/filterdata-to-separate-the-box2d-collision/ 2d碰撞

http://www.pudn.com/downloads317/sourcecode/graph/detail1404298.html 光线跟踪

#include "cv.h"  
#include "highgui.h" 
#include "cxcore.h"
#include "cvaux.h"
#include "math.h"
#ifdef _DEBUG
#pragma comment(lib,"cv200d.lib")
#pragma comment(lib,"cvaux200d.lib")
#pragma comment(lib,"cxcore200d.lib")
#pragma comment(lib,"highgui200d.lib")
#else
#pragma comment(lib,"cv200.lib")
#pragma comment(lib,"cvaux200.lib")
#pragma comment(lib,"cxcore200.lib")
#pragma comment(lib,"highgui200.lib")
#endif

CvMat * cumsum(CvMat *src,int rc)
{
 CvMat *Imdst = cvCloneMat(src);
 if (rc==1)
 {
  for(int row=1;row<src->rows;row++)
  {
   for(int col=0;col<src->cols;col++)
   {
    cvSetReal2D(Imdst,row,col,cvGetReal2D(Imdst,row-1,col)+cvGetReal2D(Imdst,row,col));
   }
  }
 }
 if (rc==2)
 {
  for(int row=0;row<src->rows;row++)
  {
   for(int col=1;col<src->cols;col++)
   {
    cvSetReal2D(Imdst,row,col,cvGetReal2D(Imdst,row,col-1)+cvGetReal2D(Imdst,row,col));
   }
  }
 }
 return Imdst;
}

CvMat * boxFilter(CvMat *src,int r)
{
 CvMat *Imdst = cvCloneMat(src);
 //imCum = cumsum(imSrc, 1);
 CvMat *imCum = cumsum(Imdst,1);
 //imDst(1:r+1, :) = imCum(1+r:2*r+1, :);

 CvMat *subMat = cvCreateMat(r+1,Imdst->cols,CV_32FC1);
 cvGetRows(imCum,subMat,r,2*r+1);//前闭后开的区间
 for (int row = 0;row<r+1;row++)
 {
  for(int col = 0;col<Imdst->cols;col++)
  {
   cvSetReal2D(Imdst,row,col,cvGetReal2D(subMat,row,col));
  }
 }
 cvReleaseMat(&subMat);

 //imDst(r+2:hei-r, :) = imCum(2*r+2:hei, :) - imCum(1:hei-2*r-1, :);
 subMat = cvCreateMat(Imdst->rows-2*r,Imdst->cols,CV_32FC1);
 cvGetRows(imCum,subMat,2*r+1,Imdst->rows);//这里是不对的第rows行没有被提取
 CvMat *subMat2 = cvCreateMat(Imdst->rows-2*r,Imdst->cols,CV_32FC1);
 cvGetRows(imCum,subMat2,0,Imdst->rows-2*r-1); 
 cvSub(subMat,subMat2,subMat2);
 for (int row = r+1;row<Imdst->rows-r;row++)
 {
  for(int col = 0;col<Imdst->cols;col++)
  {
   cvSetReal2D(Imdst,row,col,cvGetReal2D(subMat2,row-r-1,col));
  }
 }
 cvReleaseMat(&subMat);
 cvReleaseMat(&subMat2);

 //imDst(hei-r+1:hei, :) = repmat(imCum(hei, :), [r, 1]) - imCum(hei-2*r:hei-r-1, :);
 subMat = cvCreateMat(r,Imdst->cols,CV_32FC1);
 cvGetRows(imCum,subMat,r,2*r);
 CvMat *subMatOne = cvCreateMat(1,Imdst->cols,CV_32FC1);
 cvRepeat(cvGetRow(imCum,subMatOne,Imdst->rows-1),subMat);
 subMat2 = cvCreateMat(r+1,Imdst->cols,CV_32FC1);
 cvGetRows(imCum,subMat2,Imdst->rows-2*r-1,Imdst->rows-r-1);

 cvSub(subMat,subMat2,subMat2);
 
 for (int row = Imdst->rows-r;row<Imdst->rows;row++)
 {
  for(int col = 0;col<Imdst->cols;col++)
  {
   cvSetReal2D(Imdst,row,col,cvGetReal2D(subMat2,row+r-Imdst->rows,col));
  }

 }
 cvReleaseMat(&subMat);
 cvReleaseMat(&subMat2);

 
 CvMat *Imdst2= cvCloneMat(Imdst);
 //imCum = cumsum(imDst, 2);
 imCum = cumsum(Imdst2,2);

 //imDst(:, 1:r+1) = imCum(:, 1+r:2*r+1);
 subMat = cvCreateMat(Imdst2->rows,r+1,CV_32FC1);
 cvGetCols(imCum,subMat,r,2*r+1);
 for(int row=0;row<Imdst2->rows;row++)
 {
  for(int col=0;col<r+1;col++)
  {  
   cvSetReal2D(Imdst2,row,col,cvGetReal2D(subMat,row,col));
  }
 }
 cvReleaseMat(&subMat);

 //imDst(:, r+2:wid-r) = imCum(:, 2*r+2:wid) - imCum(:, 1:wid-2*r-1);
 subMat = cvCreateMat(Imdst2->rows,Imdst2->cols-2*r-1,CV_32FC1);
 subMat2 = cvCreateMat(Imdst2->rows,Imdst2->cols-2*r-1,CV_32FC1);
 cvGetCols(imCum,subMat,2*r+1,imCum->cols);
 cvGetCols(imCum,subMat2,0,imCum->cols-2*r-1);
 cvSub(subMat,subMat2,subMat2);
 for(int row=0;row<Imdst2->rows;row++)
 {
  for(int col=r+1;col<Imdst->cols-r;col++)
  {
   cvSetReal2D(Imdst2,row,col,cvGetReal2D(subMat2,row,col-r-1));
  }
 }
 cvReleaseMat(&subMat);
 cvReleaseMat(&subMat2);
 
 //imDst(:, wid-r+1:wid) = repmat(imCum(:, wid), [1, r]) - imCum(:, wid-2*r:wid-r-1);
 subMat = cvCreateMat(Imdst2->rows,r,CV_32FC1);
 cvGetCols(imCum,subMat,r,2*r);
 subMatOne = cvCreateMat(Imdst2->rows,1,CV_32FC1);
 cvRepeat(cvGetCol(imCum,subMatOne,Imdst->cols-1),subMat);
 subMat2 = cvCreateMat(Imdst2->rows,r,CV_32FC1);
 cvGetCols(imCum,subMat2,imCum->cols-2*r-1,imCum->cols-r-1);
 cvSub(subMat,subMat2,subMat2);
 for(int row=0;row<Imdst2->rows;row++)
 {
  for(int col=Imdst2->cols-r;col<Imdst->cols;col++)
  {
   cvSetReal2D(Imdst2,row,col,cvGetReal2D(subMat2,row,col+r-Imdst2->cols));
  }
 }

 cvReleaseMat(&subMat);
 cvReleaseMat(&subMat2);
 cvReleaseMat(&subMatOne);

 return Imdst2;
 
}
CV_IMPL void
cvSplitssss( const CvMat * srcarr, CvMat* dstarr0, CvMat* dstarr1, CvMat* dstarr2, CvMat* dstarr3 )
{

 for(int y=0;y<srcarr->rows;y++)
 {
  for(int x=0;x<srcarr->cols;x++)
  {
   cvSetReal2D(dstarr0,y,x,cvGet2D(srcarr,y,x).val[0]/255.00);
   if(dstarr1!=NULL&&dstarr2!=NULL)
   {
    cvSetReal2D(dstarr1,y,x,cvGet2D(srcarr,y,x).val[1]/255.00);
    cvSetReal2D(dstarr2,y,x,cvGet2D(srcarr,y,x).val[2]/255.00);
   }
   
  }
 }
}
CvMat * GuidedFilter_Color(CvMat * I,CvMat *pp,int r, float eps)
{
 int height = pp->rows;
 int weight = pp->cols;
 
 CvMat *p = cvCreateMat(height,weight,CV_32FC1);
 cvSplitssss(pp,p,NULL,NULL,NULL);
 CvMat *ones = cvCreateMat(height,weight,CV_32FC1);
 cvSet(ones,cvRealScalar(1));
 CvMat * N = boxFilter(ones,r);

 CvMat * I_b = cvCreateMat(height,weight,CV_32FC1);
 CvMat * I_g = cvCreateMat(height,weight,CV_32FC1);
 CvMat * I_r = cvCreateMat(height,weight,CV_32FC1);
 cvZero(I_r);
 cvSplitssss(I,I_r,I_g,I_b,NULL);
 
 CvMat * mean_I_r = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(I_r,r),N,mean_I_r);
 CvMat * mean_I_g = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(I_g,r),N,mean_I_g);
 CvMat * mean_I_b = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(I_b,r),N,mean_I_b); 
 CvMat * mean_p = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(p,r),N,mean_p);
 CvMat * pr = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_r,p,pr);
 CvMat * mean_Ip_r = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(pr,r),N,mean_Ip_r);
 CvMat * pg = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_g,p,pg);
 CvMat * mean_Ip_g = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(pg,r),N,mean_Ip_g);
 CvMat * pb = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_b,p,pb);
 CvMat * mean_Ip_b = cvCreateMat(height,weight,CV_32FC1);
 cvDiv(boxFilter(pb,r),N,mean_Ip_b); 

 cvMul(mean_I_r,mean_p,pr);
 cvMul(mean_I_g,mean_p,pg);
 cvMul(mean_I_b,mean_p,pb);

 CvMat * cov_Ip_r = cvCreateMat(height,weight,CV_32FC1);
 cvSub(mean_Ip_r,pr,cov_Ip_r);
 CvMat * cov_Ip_g = cvCreateMat(height,weight,CV_32FC1);
 cvSub(mean_Ip_g,pg,cov_Ip_g);
 CvMat * cov_Ip_b = cvCreateMat(height,weight,CV_32FC1);
 cvSub(mean_Ip_b,pb,cov_Ip_b);

 CvMat * var_I_rr  = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_r,I_r,pr);
 cvDiv(boxFilter(pr,r),N,var_I_rr);

 cvMul(mean_I_r,mean_I_r,pr);
 cvSub(var_I_rr,pr,var_I_rr);
 CvMat * var_I_rg  = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_r,I_g,pr);
 cvDiv(boxFilter(pr,r),N,var_I_rg);
 cvMul(mean_I_r,mean_I_g,pr);
 cvSub(var_I_rg,pr,var_I_rg);
 CvMat * var_I_rb  = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_r,I_b,pr);
 cvDiv(boxFilter(pr,r),N,var_I_rb);
 cvMul(mean_I_r,mean_I_b,pr);
 cvSub(var_I_rb,pr,var_I_rb);
 CvMat * var_I_gg  = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_g,I_g,pr);
 cvDiv(boxFilter(pr,r),N,var_I_gg);
 cvMul(mean_I_g,mean_I_g,pr);
 cvSub(var_I_gg,pr,var_I_gg);
 CvMat * var_I_gb  = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_g,I_b,pr);
 cvDiv(boxFilter(pr,r),N,var_I_gb);
 cvMul(mean_I_g,mean_I_b,pr);
 cvSub(var_I_gb,pr,var_I_gb);
 CvMat * var_I_bb  = cvCreateMat(height,weight,CV_32FC1);
 cvMul(I_b,I_b,pr);
 cvDiv(boxFilter(pr,r),N,var_I_bb);
 cvMul(mean_I_b,mean_I_b,pr);
 cvSub(var_I_bb,pr,var_I_bb);
 
 CvMat * Sigma = cvCreateMat(3,3,CV_32FC1);
 CvMat * cov_Ip = cvCreateMat(1,3,CV_32FC1);
 CvMat * cov_Ipo = cvCreateMat(1,3,CV_32FC1);
 CvMat * SigmaInv = cvCreateMat(3,3,CV_32FC1);
 CvMat * a_b = cvCreateMat(height,weight,CV_32FC1);
 CvMat * a_g = cvCreateMat(height,weight,CV_32FC1);
 CvMat * a_r = cvCreateMat(height,weight,CV_32FC1);
 cvZero(SigmaInv);
 for(int i=0;i<p->rows;i++)
 {
  for (int j=0;j<p->cols;j++)
  {
   cvSetReal2D(Sigma,0,0,cvGetReal2D(var_I_rr,i,j)+2*eps);
   cvSetReal2D(Sigma,0,1,cvGetReal2D(var_I_rg,i,j));
   cvSetReal2D(Sigma,0,2,cvGetReal2D(var_I_rb,i,j));
   cvSetReal2D(Sigma,1,0,cvGetReal2D(var_I_rg,i,j));
   cvSetReal2D(Sigma,1,1,cvGetReal2D(var_I_gg,i,j)+2*eps);
   cvSetReal2D(Sigma,1,2,cvGetReal2D(var_I_gb,i,j));
   cvSetReal2D(Sigma,2,0,cvGetReal2D(var_I_rb,i,j));
   cvSetReal2D(Sigma,2,1,cvGetReal2D(var_I_gb,i,j));
   cvSetReal2D(Sigma,2,2,cvGetReal2D(var_I_bb,i,j)+2*eps);
   
   cvSetReal2D(cov_Ip,0,0,cvGetReal2D(cov_Ip_r,i,j));
   cvSetReal2D(cov_Ip,0,1,cvGetReal2D(cov_Ip_g,i,j));
   cvSetReal2D(cov_Ip,0,2,cvGetReal2D(cov_Ip_b,i,j));

   cvInvert(Sigma,SigmaInv);
   cvMatMulAdd(cov_Ip,SigmaInv,0,cov_Ip);
   cvSetReal2D(a_r,i,j,cvGetReal2D(cov_Ip,0,0));
   cvSetReal2D(a_g,i,j,cvGetReal2D(cov_Ip,0,1));
   cvSetReal2D(a_b,i,j,cvGetReal2D(cov_Ip,0,2));
  }
 }

 cvMul(a_r,mean_I_r,pr);
 cvMul(a_g,mean_I_g,pg);
 cvMul(a_b,mean_I_b,pb);

 cvSub(mean_p,pr,mean_p);
 cvSub(mean_p,pg,mean_p);
 cvSub(mean_p,pb,mean_p);
 
 cvMul(boxFilter(a_r,r),I_r,I_r);
 cvMul(boxFilter(a_g,r),I_g,I_g);
 cvMul(boxFilter(a_b,r),I_b,I_b);
 cvAdd(I_r,I_g,I_r);
 cvAdd(I_r,I_b,I_r);
 cvAdd(I_r,boxFilter(mean_p,r),I_r);
 cvDiv(I_r,N,I_r);
 cvReleaseMat(&a_b);
 cvReleaseMat(&a_g);
 cvReleaseMat(&a_r);
 cvReleaseMat(&SigmaInv);
 cvReleaseMat(&cov_Ip);
 cvReleaseMat(&Sigma);
 cvReleaseMat(&var_I_bb);
 cvReleaseMat(&var_I_gb);
 cvReleaseMat(&var_I_gg);
 cvReleaseMat(&var_I_rb);
 cvReleaseMat(&var_I_rg);
 cvReleaseMat(&var_I_rr);
 cvReleaseMat(&cov_Ip_r);
 cvReleaseMat(&cov_Ip_g);
 cvReleaseMat(&cov_Ip_b);
 cvReleaseMat(&pr);
 cvReleaseMat(&pg);
 cvReleaseMat(&pb);
 cvReleaseMat(&mean_Ip_r);
 cvReleaseMat(&mean_Ip_g);
 cvReleaseMat(&mean_Ip_b);
 cvReleaseMat(&I_g);
 cvReleaseMat(&I_b);
 cvReleaseMat(&ones);
 return I_r;
}

附加比较完整的opecv guidefiltercolor：

http://blog.sina.com.cn/s/blog_98ddf7cb01017m3e.html