Add fast grayscale morphology using sparse table data structure

[kyaco]

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• To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
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• There is a reference to the original bug report and related work
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  Patch to opencv_extra has the same branch name.
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Abstract

This is a pull request for a program that calculates grayscale morphological operations quickly by using a data structure called a sparse table.

About sparse table

1D sparse table

For the data structure, see this: https://www.geeksforgeeks.org/sparse-table/

It is possible to quickly find the minimum (maximum) value of an array within a range whose length is a power of two.

Let's call the nth row of the sparse table the "row of depth n".
The nth row contains the minimum (maximum) values ​​in consecutive subsequences of length $2^n$ of the original array.

sparse tabl(min)
depth0(original array)	1	4	9	2	5	0	5	7	3
depth1	1	4	2	2	0	0	5	3	-
depth2	1	2	0	0	0	0	-	-	-
depth3	0	0	-	-	-	-	-	-	-

Let us denote by $F$ the operation of computing the next row from a row in a sparse table.

$st[0] = original~array$
$st[depth + 1] = F(st[depth])$

2D sparse table

For the data structure, see this: https://www.geeksforgeeks.org/2d-range-minimum-query-in-o1/

Change the order of the subscripts to:

$st[dr][dc][r][c]$

where $dr$ is the depth in the row direction, $dc$ is the depth in the column direction, $r$ is the index in the row direction, and $c$ is the index in the column direction.
$st[dr][dc]$ is a two-dimensional table that lists the minimum (maximum) values ​​within a rectangle R of height $2^{dr}$ and width $2^{dc}$ that is slid across the original array A. In other words, it is the result of a morphological operation when A is a grayscale image and R is the structuring element.

In terms of the depth (dr, dc) of a sparse table, the operation of increasing the depth by +1 in the row and col directions will be denoted as Fr and Fc, respectively.

$st[0][0] = original~image$
$st[dr+1][dc] = F_r(st[dr][dc])$
$st[dr][dc+1] = F_c(st[dr][dc])$

Sparse table morphology

Morphological operations are performed in the following steps:

1. Prepare a set of rectangles whose width and height are powers of 2 to cover the structuring element
2. Group the rectangles by height and width.
3. Prepare a MAT DST to accumulate the results
4. For each group, do the following
   1. Create st[dr][dc] that corresponds to the size of this group
   2. For each rectangle in the group, do the following
      • Shift st[dr][dc] by the position of each rectangle, and calculate min/max against DST.

At step 1, I implemented a method to find corners in a sparse table of structuring elements.
I don't know if it's the best method, but it's giving good results.

At step 4-1, st[dr][dc] is created by reusing st[dr'][dc'] of smaller size.
There are several possible reuse strategies, but I implemented a method that minimizes the total number of calculations of Fr and Fc.
This is reduced to the Rectilinear Steiner Arborescence Problem. (https://link.springer.com/article/10.1007/BF01758762).

Examples

With a structuring element of MORPH_ELLIPSE, size(5, 5)

The structuring element is decomposed into six rectangles.
The result of grouping in step 2 is as follows:

• Size(4, 2): Point(0, 1), Point(1, 1), Point(0, 2), Point(1, 2)
• Size(1, 4): Point(2, 0), Point(2, 1)

For size(4, 2), we need to calculate st[1][2], and for size(1, 4), we need to calculate st[2][0].

1. st[0][0] =: original image
2. st[1][0] =: Fr(st[0][0])
3. st[1][1] =: Fc(st[1][0])
4. st[1][2] =: Fc(st[1][1])
   • shift & min/max process for Point(0, 1), Point(1, 1), Point(0, 2), Point(1, 2)
5. st[2][0] =: Fr(st[1][0])
   • shift & min/max process for Point(2, 0), Point(2, 1)

Performance measurement

• Execution environment
  • Intel i7-8000 CPU @ 3.20GHz
  • 32GB RAM
• image
  • lena.png(512x512), CV_8UC3
• conditions
  • cv_RECT: MORPH_RECT, cv_erode
  • cv_CROSS: MORPH_CROSS, cv_erode
  • cv_ELLIPSE: MORPH_ELLIPSE, cv_erode
  • st_RECT: MORPH_RECT, sparse_table_erode
  • st_CROSS: MORPH_CROSS, sparse_table_erode
  • st_ELLIPSE: MORPH_ELLIPSE, sparse_table_erode

When kernel is decomposited in advance:

From the graph, time complexity against diameter of kernel are as follows:

• cv_RECT and cv_CROSS: O(k)
• cv_ELLIPSE: O(k^2)
• st_RECT and st_CROSS: O(k^0.5)
• st_ELLIPSE: O(k^0.76)

Including decomposition time:

When the kernel size approaches the same size as the target image, the kernel decomposition time becomes comparable to that of CV_RECT.

[kyaco]

Hi, @asmorkalov. Please review this pr.