Fixed Canny
This commit is contained in:
Andrey Kamaev
parent
5785a89053
commit
ff2af7d8bb
@ -50,54 +50,60 @@ void cv::Canny( InputArray _src, OutputArray _dst,
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_dst.create(src.size(), CV_8U);
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Mat dst = _dst.getMat();
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if (!L2gradient && (aperture_size & CV_CANNY_L2_GRADIENT) == CV_CANNY_L2_GRADIENT)
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{
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//backward compatibility
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aperture_size &= ~CV_CANNY_L2_GRADIENT;
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L2gradient = true;
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}
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if ((aperture_size & 1) == 0 || (aperture_size != -1 && (aperture_size < 3 || aperture_size > 7)))
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CV_Error(CV_StsBadFlag, "");
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#ifdef HAVE_TEGRA_OPTIMIZATION
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if (tegra::canny(src, dst, low_thresh, high_thresh, aperture_size, L2gradient))
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return;
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#endif
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if( low_thresh > high_thresh )
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const int cn = src.channels();
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cv::Mat dx(src.rows, src.cols, CV_16SC(cn));
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cv::Mat dy(src.rows, src.cols, CV_16SC(cn));
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cv::Sobel(src, dx, CV_16S, 1, 0, aperture_size, 1, 0, cv::BORDER_REPLICATE);
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cv::Sobel(src, dy, CV_16S, 0, 1, aperture_size, 1, 0, cv::BORDER_REPLICATE);
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if (low_thresh > high_thresh)
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std::swap(low_thresh, high_thresh);
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if( (aperture_size & 1) == 0 || (aperture_size != -1 && (aperture_size < 3 || aperture_size > 7)) )
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CV_Error( CV_StsBadFlag, "" );
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Mat dx, dy;
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Sobel(src, dx, CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REFLECT_101);
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Sobel(src, dy, CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REFLECT_101);
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int low, high;
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if( L2gradient )
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if (L2gradient)
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{
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Cv32suf ul, uh;
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ul.f = (float)low_thresh;
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uh.f = (float)high_thresh;
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low_thresh = std::min(32767.0, low_thresh);
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high_thresh = std::min(32767.0, high_thresh);
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low = ul.i;
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high = uh.i;
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}
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else
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{
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low = cvFloor( low_thresh );
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high = cvFloor( high_thresh );
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if (low_thresh > 0) low_thresh *= low_thresh;
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if (high_thresh > 0) high_thresh *= high_thresh;
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}
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int low = cvFloor(low_thresh);
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int high = cvFloor(high_thresh);
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Size size = src.size();
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int i, j, k, mstep = size.width + 2, cn = src.channels();
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ptrdiff_t mapstep = src.cols + 2;
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cv::AutoBuffer<uchar> buffer((src.cols+2)*(src.rows+2) + cn * mapstep * 3 * sizeof(int));
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Mat mask(size.height + 2, mstep, CV_8U);
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memset( mask.ptr<uchar>(0), 1, mstep );
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memset( mask.ptr<uchar>(size.height+1), 1, mstep );
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int* mag_buf[3];
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mag_buf[0] = (int*)(uchar*)buffer;
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mag_buf[1] = mag_buf[0] + mapstep*cn;
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mag_buf[2] = mag_buf[1] + mapstep*cn;
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memset(mag_buf[0], 0, /* cn* */mapstep*sizeof(int));
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Mat mag(6+cn, mstep, CV_32S);
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mag = Scalar::all(0);
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int* mag_buf[3] = { mag.ptr<int>(0), mag.ptr<int>(1), mag.ptr<int>(2) };
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short* dxybuf[3] = { (short*)mag.ptr<int>(3), (short*)mag.ptr<int>(4), (short*)mag.ptr<int>(5) };
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int* mbuf = mag.ptr<int>(6);
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uchar* map = (uchar*)(mag_buf[2] + mapstep*cn);
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memset(map, 1, mapstep);
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memset(map + mapstep*(src.rows + 1), 1, mapstep);
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int maxsize = MAX( 1 << 10, size.width*size.height/10 );
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std::vector<uchar*> stack( maxsize );
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uchar **stack_top, **stack_bottom;
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stack_top = stack_bottom = &stack[0];
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int maxsize = std::max(1 << 10, src.cols * src.rows / 10);
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std::vector<uchar*> stack(maxsize);
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uchar **stack_top = &stack[0];
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uchar **stack_bottom = &stack[0];
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/* sector numbers
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(Top-Left Origin)
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@ -111,7 +117,7 @@ void cv::Canny( InputArray _src, OutputArray _dst,
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3 2 1
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*/
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#define CANNY_PUSH(d) *(d) = (uchar)2, *stack_top++ = (d)
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#define CANNY_PUSH(d) *(d) = uchar(2), *stack_top++ = (d)
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#define CANNY_POP(d) (d) = *--stack_top
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// calculate magnitude and angle of gradient, perform non-maxima supression.
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@ -119,184 +125,129 @@ void cv::Canny( InputArray _src, OutputArray _dst,
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// 0 - the pixel might belong to an edge
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// 1 - the pixel can not belong to an edge
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// 2 - the pixel does belong to an edge
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for( i = 0; i <= size.height; i++ )
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for (int i = 0; i <= src.rows; i++)
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{
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int *_mag = mag_buf[(i > 0) + 1] + 1;
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float* _magf = (float*)_mag;
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const short *_dx, *_dy;
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short *_ddx, *_ddy;
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uchar* _map;
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int x, y;
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ptrdiff_t magstep1, magstep2;
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int prev_flag = 0;
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if( i < size.height )
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int* _norm = mag_buf[(i > 0) + 1] + 1;
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if (i < src.rows)
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{
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_dx = dx.ptr<short>(i);
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_dy = dy.ptr<short>(i);
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_ddx = dxybuf[(i > 0) + 1];
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_ddy = _ddx + size.width;
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short* _dx = dx.ptr<short>(i);
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short* _dy = dy.ptr<short>(i);
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if( cn > 1 )
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if (!L2gradient)
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{
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_mag = mbuf;
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_magf = (float*)_mag;
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}
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if( !L2gradient )
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for( j = 0; j < size.width*cn; j++ )
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_mag[j] = std::abs(_dx[j]) + std::abs(_dy[j]);
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else
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{
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for( j = 0; j < size.width*cn; j++ )
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{
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x = _dx[j]; y = _dy[j];
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_magf[j] = sqrtf((float)x*x + (float)y*y);
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}
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}
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if( cn > 1 )
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{
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_mag = mag_buf[(i > 0) + 1] + 1;
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for( j = 0; j < size.width; j++ )
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{
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_mag[j] = mbuf[(j+1)*cn];
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_ddx[j] = _dx[j*cn]; _ddy[j] = _dy[j*cn];
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}
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for( k = 1; k < cn; k++ )
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{
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for( j = 0; j < size.width; j++ )
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if( mbuf[(j+1)*cn + k] > _mag[j] )
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{
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_mag[j] = mbuf[(j+1)*cn + k];
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_ddx[j] = _dx[j*cn + k];
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_ddy[j] = _dy[j*cn + k];
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}
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}
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for (int j = 0; j < src.cols*cn; j++)
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_norm[j] = std::abs(int(_dx[j])) + std::abs(int(_dy[j]));
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}
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else
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{
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for( j = 0; j < size.width; j++ )
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_ddx[j] = _dx[j]; _ddy[j] = _dy[j];
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for (int j = 0; j < src.cols*cn; j++)
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_norm[j] = int(_dx[j])*_dx[j] + int(_dy[j])*_dy[j];
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}
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_mag[-1] = _mag[size.width] = 0;
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if (cn > 1)
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{
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for(int j = 0, jn = 0; j < src.cols; ++j, jn += cn)
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{
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int maxIdx = jn;
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for(int k = 1; k < cn; ++k)
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if(_norm[jn + k] > _norm[maxIdx]) maxIdx = jn + k;
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_norm[j] = _norm[maxIdx];
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_dx[j] = _dx[maxIdx];
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_dy[j] = _dy[maxIdx];
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}
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}
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_norm[-1] = _norm[src.cols] = 0;
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}
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else
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memset( _mag-1, 0, (size.width + 2)*sizeof(_mag[0]) );
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memset(_norm-1, 0, /* cn* */mapstep*sizeof(int));
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// at the very beginning we do not have a complete ring
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// buffer of 3 magnitude rows for non-maxima suppression
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if( i == 0 )
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if (i == 0)
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continue;
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_map = &mask.at<uchar>(i, 1);
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_map[-1] = _map[size.width] = 1;
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uchar* _map = map + mapstep*i + 1;
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_map[-1] = _map[src.cols] = 1;
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_mag = mag_buf[1] + 1; // take the central row
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_dx = dxybuf[1];
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_dy = _dx + size.width;
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int* _mag = mag_buf[1] + 1; // take the central row
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ptrdiff_t magstep1 = mag_buf[2] - mag_buf[1];
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ptrdiff_t magstep2 = mag_buf[0] - mag_buf[1];
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magstep1 = mag_buf[2] - mag_buf[1];
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magstep2 = mag_buf[0] - mag_buf[1];
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const short* _x = dx.ptr<short>(i-1);
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const short* _y = dy.ptr<short>(i-1);
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if( (stack_top - stack_bottom) + size.width > maxsize )
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if ((stack_top - stack_bottom) + src.cols > maxsize)
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{
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int sz = (int)(stack_top - stack_bottom);
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maxsize = MAX( maxsize * 3/2, maxsize + size.width );
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maxsize = maxsize * 3/2;
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stack.resize(maxsize);
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stack_bottom = &stack[0];
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stack_top = stack_bottom + sz;
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}
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for( j = 0; j < size.width; j++ )
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int prev_flag = 0;
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for (int j = 0; j < src.cols; j++)
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{
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#define CANNY_SHIFT 15
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#define TG22 (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5)
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const int TG22 = (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5);
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x = _dx[j];
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y = _dy[j];
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int s = x ^ y;
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int m = _mag[j];
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x = std::abs(x);
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y = std::abs(y);
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if( m > low )
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if (m > low)
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{
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int xs = _x[j];
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int ys = _y[j];
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int x = std::abs(xs);
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int y = std::abs(ys) << CANNY_SHIFT;
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int tg22x = x * TG22;
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int tg67x = tg22x + ((x + x) << CANNY_SHIFT);
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y <<= CANNY_SHIFT;
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if( y < tg22x )
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if (y < tg22x)
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{
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if( m > _mag[j-1] && m >= _mag[j+1] )
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{
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if( m > high && !prev_flag && _map[j-mstep] != 2 )
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{
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CANNY_PUSH( _map + j );
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prev_flag = 1;
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}
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else
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_map[j] = (uchar)0;
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continue;
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}
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}
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else if( y > tg67x )
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{
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if( m > _mag[j+magstep2] && m >= _mag[j+magstep1] )
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{
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if( m > high && !prev_flag && _map[j-mstep] != 2 )
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{
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CANNY_PUSH( _map + j );
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prev_flag = 1;
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}
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else
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_map[j] = (uchar)0;
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continue;
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}
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if (m > _mag[j-1] && m >= _mag[j+1]) goto __ocv_canny_push;
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}
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else
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{
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s = s < 0 ? -1 : 1;
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if( m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s] )
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int tg67x = tg22x + (x << (CANNY_SHIFT+1));
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if (y > tg67x)
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{
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if( m > high && !prev_flag && _map[j-mstep] != 2 )
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{
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CANNY_PUSH( _map + j );
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prev_flag = 1;
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}
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else
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_map[j] = (uchar)0;
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continue;
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if (m > _mag[j+magstep2] && m >= _mag[j+magstep1]) goto __ocv_canny_push;
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}
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else
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{
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int s = (xs ^ ys) < 0 ? -1 : 1;
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if (m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s]) goto __ocv_canny_push;
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}
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}
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}
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prev_flag = 0;
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_map[j] = (uchar)1;
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_map[j] = uchar(1);
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continue;
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__ocv_canny_push:
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if (!prev_flag && m > high && _map[j-mapstep] != 2)
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{
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CANNY_PUSH(_map + j);
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prev_flag = 1;
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}
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else
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_map[j] = 0;
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}
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// scroll the ring buffers
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// scroll the ring buffer
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_mag = mag_buf[0];
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mag_buf[0] = mag_buf[1];
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mag_buf[1] = mag_buf[2];
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mag_buf[2] = _mag;
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_ddx = dxybuf[0];
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dxybuf[0] = dxybuf[1];
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dxybuf[1] = dxybuf[2];
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dxybuf[2] = _ddx;
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}
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// now track the edges (hysteresis thresholding)
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while( stack_top > stack_bottom )
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while (stack_top > stack_bottom)
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{
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uchar* m;
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if( (stack_top - stack_bottom) + 8 > maxsize )
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if ((stack_top - stack_bottom) + 8 > maxsize)
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{
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int sz = (int)(stack_top - stack_bottom);
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maxsize = MAX( maxsize * 3/2, maxsize + 8 );
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maxsize = maxsize * 3/2;
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stack.resize(maxsize);
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stack_bottom = &stack[0];
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stack_top = stack_bottom + sz;
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@ -304,32 +255,23 @@ void cv::Canny( InputArray _src, OutputArray _dst,
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CANNY_POP(m);
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if( !m[-1] )
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CANNY_PUSH( m - 1 );
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if( !m[1] )
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CANNY_PUSH( m + 1 );
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if( !m[-mstep-1] )
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CANNY_PUSH( m - mstep - 1 );
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if( !m[-mstep] )
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CANNY_PUSH( m - mstep );
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if( !m[-mstep+1] )
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CANNY_PUSH( m - mstep + 1 );
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if( !m[mstep-1] )
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CANNY_PUSH( m + mstep - 1 );
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if( !m[mstep] )
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CANNY_PUSH( m + mstep );
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if( !m[mstep+1] )
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CANNY_PUSH( m + mstep + 1 );
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if (!m[-1]) CANNY_PUSH(m - 1);
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if (!m[1]) CANNY_PUSH(m + 1);
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if (!m[-mapstep-1]) CANNY_PUSH(m - mapstep - 1);
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if (!m[-mapstep]) CANNY_PUSH(m - mapstep);
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if (!m[-mapstep+1]) CANNY_PUSH(m - mapstep + 1);
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if (!m[mapstep-1]) CANNY_PUSH(m + mapstep - 1);
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if (!m[mapstep]) CANNY_PUSH(m + mapstep);
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if (!m[mapstep+1]) CANNY_PUSH(m + mapstep + 1);
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}
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// the final pass, form the final image
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for( i = 0; i < size.height; i++ )
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const uchar* pmap = map + mapstep + 1;
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uchar* pdst = dst.ptr();
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for (int i = 0; i < src.rows; i++, pmap += mapstep, pdst += dst.step)
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{
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const uchar* _map = mask.ptr<uchar>(i+1) + 1;
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uchar* _dst = dst.ptr<uchar>(i);
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for( j = 0; j < size.width; j++ )
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_dst[j] = (uchar)-(_map[j] >> 1);
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for (int j = 0; j < src.cols; j++)
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pdst[j] = (uchar)-(pmap[j] >> 1);
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}
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}
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