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Commit ff2af7d8 authored by Andrey Kamaev's avatar Andrey Kamaev
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Fixed Canny

parent 5785a890
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Showing with 112 additions and 170 deletions
modules/imgproc/src/canny.cpp
View file @ ff2af7d8
...@@ -50,54 +50,60 @@ void cv::Canny( InputArray _src, OutputArray _dst, ...@@ -50,54 +50,60 @@ void cv::Canny( InputArray _src, OutputArray _dst,
_dst.create(src.size(), CV_8U); _dst.create(src.size(), CV_8U);
Mat dst = _dst.getMat(); Mat dst = _dst.getMat();
if (!L2gradient && (aperture_size & CV_CANNY_L2_GRADIENT) == CV_CANNY_L2_GRADIENT)
{
//backward compatibility
aperture_size &= ~CV_CANNY_L2_GRADIENT;
L2gradient = true;
}
if ((aperture_size & 1) == 0 || (aperture_size != -1 && (aperture_size < 3 || aperture_size > 7)))
CV_Error(CV_StsBadFlag, "");
#ifdef HAVE_TEGRA_OPTIMIZATION #ifdef HAVE_TEGRA_OPTIMIZATION
if (tegra::canny(src, dst, low_thresh, high_thresh, aperture_size, L2gradient)) if (tegra::canny(src, dst, low_thresh, high_thresh, aperture_size, L2gradient))
return; return;
#endif #endif
if( low_thresh > high_thresh ) const int cn = src.channels();
std::swap(low_thresh, high_thresh); cv::Mat dx(src.rows, src.cols, CV_16SC(cn));
cv::Mat dy(src.rows, src.cols, CV_16SC(cn));
if( (aperture_size & 1) == 0 || (aperture_size != -1 && (aperture_size < 3 || aperture_size > 7)) ) cv::Sobel(src, dx, CV_16S, 1, 0, aperture_size, 1, 0, cv::BORDER_REPLICATE);
CV_Error( CV_StsBadFlag, "" ); cv::Sobel(src, dy, CV_16S, 0, 1, aperture_size, 1, 0, cv::BORDER_REPLICATE);
Mat dx, dy; if (low_thresh > high_thresh)
Sobel(src, dx, CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REFLECT_101); std::swap(low_thresh, high_thresh);
Sobel(src, dy, CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REFLECT_101);
int low, high; if (L2gradient)
if( L2gradient )
{ {
Cv32suf ul, uh; low_thresh = std::min(32767.0, low_thresh);
ul.f = (float)low_thresh; high_thresh = std::min(32767.0, high_thresh);
uh.f = (float)high_thresh;
low = ul.i; if (low_thresh > 0) low_thresh *= low_thresh;
high = uh.i; if (high_thresh > 0) high_thresh *= high_thresh;
}
else
{
low = cvFloor( low_thresh );
high = cvFloor( high_thresh );
} }
int low = cvFloor(low_thresh);
int high = cvFloor(high_thresh);
Size size = src.size(); ptrdiff_t mapstep = src.cols + 2;
int i, j, k, mstep = size.width + 2, cn = src.channels(); cv::AutoBuffer<uchar> buffer((src.cols+2)*(src.rows+2) + cn * mapstep * 3 * sizeof(int));
Mat mask(size.height + 2, mstep, CV_8U); int* mag_buf[3];
memset( mask.ptr<uchar>(0), 1, mstep ); mag_buf[0] = (int*)(uchar*)buffer;
memset( mask.ptr<uchar>(size.height+1), 1, mstep ); mag_buf[1] = mag_buf[0] + mapstep*cn;
mag_buf[2] = mag_buf[1] + mapstep*cn;
memset(mag_buf[0], 0, /* cn* */mapstep*sizeof(int));
Mat mag(6+cn, mstep, CV_32S); uchar* map = (uchar*)(mag_buf[2] + mapstep*cn);
mag = Scalar::all(0); memset(map, 1, mapstep);
int* mag_buf[3] = { mag.ptr<int>(0), mag.ptr<int>(1), mag.ptr<int>(2) }; memset(map + mapstep*(src.rows + 1), 1, mapstep);
short* dxybuf[3] = { (short*)mag.ptr<int>(3), (short*)mag.ptr<int>(4), (short*)mag.ptr<int>(5) };
int* mbuf = mag.ptr<int>(6);
int maxsize = MAX( 1 << 10, size.width*size.height/10 ); int maxsize = std::max(1 << 10, src.cols * src.rows / 10);
std::vector<uchar*> stack( maxsize ); std::vector<uchar*> stack(maxsize);
uchar **stack_top, **stack_bottom; uchar **stack_top = &stack[0];
stack_top = stack_bottom = &stack[0]; uchar **stack_bottom = &stack[0];
/* sector numbers /* sector numbers
(Top-Left Origin) (Top-Left Origin)
...@@ -111,7 +117,7 @@ void cv::Canny( InputArray _src, OutputArray _dst, ...@@ -111,7 +117,7 @@ void cv::Canny( InputArray _src, OutputArray _dst,
3 2 1 3 2 1
*/ */
#define CANNY_PUSH(d) *(d) = (uchar)2, *stack_top++ = (d) #define CANNY_PUSH(d) *(d) = uchar(2), *stack_top++ = (d)
#define CANNY_POP(d) (d) = *--stack_top #define CANNY_POP(d) (d) = *--stack_top
// calculate magnitude and angle of gradient, perform non-maxima supression. // calculate magnitude and angle of gradient, perform non-maxima supression.
...@@ -119,184 +125,129 @@ void cv::Canny( InputArray _src, OutputArray _dst, ...@@ -119,184 +125,129 @@ void cv::Canny( InputArray _src, OutputArray _dst,
// 0 - the pixel might belong to an edge // 0 - the pixel might belong to an edge
// 1 - the pixel can not belong to an edge // 1 - the pixel can not belong to an edge
// 2 - the pixel does belong to an edge // 2 - the pixel does belong to an edge
for( i = 0; i <= size.height; i++ ) for (int i = 0; i <= src.rows; i++)
{ {
int *_mag = mag_buf[(i > 0) + 1] + 1; int* _norm = mag_buf[(i > 0) + 1] + 1;
float* _magf = (float*)_mag; if (i < src.rows)
const short *_dx, *_dy;
short *_ddx, *_ddy;
uchar* _map;
int x, y;
ptrdiff_t magstep1, magstep2;
int prev_flag = 0;
if( i < size.height )
{ {
_dx = dx.ptr<short>(i); short* _dx = dx.ptr<short>(i);
_dy = dy.ptr<short>(i); short* _dy = dy.ptr<short>(i);
_ddx = dxybuf[(i > 0) + 1];
_ddy = _ddx + size.width;
if( cn > 1 ) if (!L2gradient)
{ {
_mag = mbuf; for (int j = 0; j < src.cols*cn; j++)
_magf = (float*)_mag; _norm[j] = std::abs(int(_dx[j])) + std::abs(int(_dy[j]));
} }
if( !L2gradient )
for( j = 0; j < size.width*cn; j++ )
_mag[j] = std::abs(_dx[j]) + std::abs(_dy[j]);
else else
{ {
for( j = 0; j < size.width*cn; j++ ) for (int j = 0; j < src.cols*cn; j++)
{ _norm[j] = int(_dx[j])*_dx[j] + int(_dy[j])*_dy[j];
x = _dx[j]; y = _dy[j];
_magf[j] = sqrtf((float)x*x + (float)y*y);
}
}
if( cn > 1 )
{
_mag = mag_buf[(i > 0) + 1] + 1;
for( j = 0; j < size.width; j++ )
{
_mag[j] = mbuf[(j+1)*cn];
_ddx[j] = _dx[j*cn]; _ddy[j] = _dy[j*cn];
} }
for( k = 1; k < cn; k++ ) if (cn > 1)
{ {
for( j = 0; j < size.width; j++ ) for(int j = 0, jn = 0; j < src.cols; ++j, jn += cn)
if( mbuf[(j+1)*cn + k] > _mag[j] )
{ {
_mag[j] = mbuf[(j+1)*cn + k]; int maxIdx = jn;
_ddx[j] = _dx[j*cn + k]; for(int k = 1; k < cn; ++k)
_ddy[j] = _dy[j*cn + k]; if(_norm[jn + k] > _norm[maxIdx]) maxIdx = jn + k;
_norm[j] = _norm[maxIdx];
_dx[j] = _dx[maxIdx];
_dy[j] = _dy[maxIdx];
} }
} }
_norm[-1] = _norm[src.cols] = 0;
} }
else else
{ memset(_norm-1, 0, /* cn* */mapstep*sizeof(int));
for( j = 0; j < size.width; j++ )
_ddx[j] = _dx[j]; _ddy[j] = _dy[j];
}
_mag[-1] = _mag[size.width] = 0;
}
else
memset( _mag-1, 0, (size.width + 2)*sizeof(_mag[0]) );
// at the very beginning we do not have a complete ring // at the very beginning we do not have a complete ring
// buffer of 3 magnitude rows for non-maxima suppression // buffer of 3 magnitude rows for non-maxima suppression
if( i == 0 ) if (i == 0)
continue; continue;
_map = &mask.at<uchar>(i, 1); uchar* _map = map + mapstep*i + 1;
_map[-1] = _map[size.width] = 1; _map[-1] = _map[src.cols] = 1;
_mag = mag_buf[1] + 1; // take the central row int* _mag = mag_buf[1] + 1; // take the central row
_dx = dxybuf[1]; ptrdiff_t magstep1 = mag_buf[2] - mag_buf[1];
_dy = _dx + size.width; ptrdiff_t magstep2 = mag_buf[0] - mag_buf[1];
magstep1 = mag_buf[2] - mag_buf[1]; const short* _x = dx.ptr<short>(i-1);
magstep2 = mag_buf[0] - mag_buf[1]; const short* _y = dy.ptr<short>(i-1);
if( (stack_top - stack_bottom) + size.width > maxsize ) if ((stack_top - stack_bottom) + src.cols > maxsize)
{ {
int sz = (int)(stack_top - stack_bottom); int sz = (int)(stack_top - stack_bottom);
maxsize = MAX( maxsize * 3/2, maxsize + size.width ); maxsize = maxsize * 3/2;
stack.resize(maxsize); stack.resize(maxsize);
stack_bottom = &stack[0]; stack_bottom = &stack[0];
stack_top = stack_bottom + sz; stack_top = stack_bottom + sz;
} }
for( j = 0; j < size.width; j++ ) int prev_flag = 0;
for (int j = 0; j < src.cols; j++)
{ {
#define CANNY_SHIFT 15 #define CANNY_SHIFT 15
#define TG22 (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5) const int TG22 = (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5);
x = _dx[j];
y = _dy[j];
int s = x ^ y;
int m = _mag[j]; int m = _mag[j];
x = std::abs(x); if (m > low)
y = std::abs(y);
if( m > low )
{ {
int tg22x = x * TG22; int xs = _x[j];
int tg67x = tg22x + ((x + x) << CANNY_SHIFT); int ys = _y[j];
int x = std::abs(xs);
int y = std::abs(ys) << CANNY_SHIFT;
y <<= CANNY_SHIFT; int tg22x = x * TG22;
if( y < tg22x ) if (y < tg22x)
{
if( m > _mag[j-1] && m >= _mag[j+1] )
{
if( m > high && !prev_flag && _map[j-mstep] != 2 )
{ {
CANNY_PUSH( _map + j ); if (m > _mag[j-1] && m >= _mag[j+1]) goto __ocv_canny_push;
prev_flag = 1;
} }
else else
_map[j] = (uchar)0;
continue;
}
}
else if( y > tg67x )
{
if( m > _mag[j+magstep2] && m >= _mag[j+magstep1] )
{ {
if( m > high && !prev_flag && _map[j-mstep] != 2 ) int tg67x = tg22x + (x << (CANNY_SHIFT+1));
if (y > tg67x)
{ {
CANNY_PUSH( _map + j ); if (m > _mag[j+magstep2] && m >= _mag[j+magstep1]) goto __ocv_canny_push;
prev_flag = 1;
} }
else else
_map[j] = (uchar)0; {
continue; int s = (xs ^ ys) < 0 ? -1 : 1;
if (m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s]) goto __ocv_canny_push;
} }
} }
else }
{ prev_flag = 0;
s = s < 0 ? -1 : 1; _map[j] = uchar(1);
if( m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s] ) continue;
{ __ocv_canny_push:
if( m > high && !prev_flag && _map[j-mstep] != 2 ) if (!prev_flag && m > high && _map[j-mapstep] != 2)
{ {
CANNY_PUSH( _map + j ); CANNY_PUSH(_map + j);
prev_flag = 1; prev_flag = 1;
} }
else else
_map[j] = (uchar)0; _map[j] = 0;
continue;
}
}
}
prev_flag = 0;
_map[j] = (uchar)1;
} }
// scroll the ring buffers // scroll the ring buffer
_mag = mag_buf[0]; _mag = mag_buf[0];
mag_buf[0] = mag_buf[1]; mag_buf[0] = mag_buf[1];
mag_buf[1] = mag_buf[2]; mag_buf[1] = mag_buf[2];
mag_buf[2] = _mag; mag_buf[2] = _mag;
_ddx = dxybuf[0];
dxybuf[0] = dxybuf[1];
dxybuf[1] = dxybuf[2];
dxybuf[2] = _ddx;
} }
// now track the edges (hysteresis thresholding) // now track the edges (hysteresis thresholding)
while( stack_top > stack_bottom ) while (stack_top > stack_bottom)
{ {
uchar* m; uchar* m;
if( (stack_top - stack_bottom) + 8 > maxsize ) if ((stack_top - stack_bottom) + 8 > maxsize)
{ {
int sz = (int)(stack_top - stack_bottom); int sz = (int)(stack_top - stack_bottom);
maxsize = MAX( maxsize * 3/2, maxsize + 8 ); maxsize = maxsize * 3/2;
stack.resize(maxsize); stack.resize(maxsize);
stack_bottom = &stack[0]; stack_bottom = &stack[0];
stack_top = stack_bottom + sz; stack_top = stack_bottom + sz;
...@@ -304,32 +255,23 @@ void cv::Canny( InputArray _src, OutputArray _dst, ...@@ -304,32 +255,23 @@ void cv::Canny( InputArray _src, OutputArray _dst,
CANNY_POP(m); CANNY_POP(m);
if( !m[-1] ) if (!m[-1]) CANNY_PUSH(m - 1);
CANNY_PUSH( m - 1 ); if (!m[1]) CANNY_PUSH(m + 1);
if( !m[1] ) if (!m[-mapstep-1]) CANNY_PUSH(m - mapstep - 1);
CANNY_PUSH( m + 1 ); if (!m[-mapstep]) CANNY_PUSH(m - mapstep);
if( !m[-mstep-1] ) if (!m[-mapstep+1]) CANNY_PUSH(m - mapstep + 1);
CANNY_PUSH( m - mstep - 1 ); if (!m[mapstep-1]) CANNY_PUSH(m + mapstep - 1);
if( !m[-mstep] ) if (!m[mapstep]) CANNY_PUSH(m + mapstep);
CANNY_PUSH( m - mstep ); if (!m[mapstep+1]) CANNY_PUSH(m + mapstep + 1);
if( !m[-mstep+1] )
CANNY_PUSH( m - mstep + 1 );
if( !m[mstep-1] )
CANNY_PUSH( m + mstep - 1 );
if( !m[mstep] )
CANNY_PUSH( m + mstep );
if( !m[mstep+1] )
CANNY_PUSH( m + mstep + 1 );
} }
// the final pass, form the final image // the final pass, form the final image
for( i = 0; i < size.height; i++ ) const uchar* pmap = map + mapstep + 1;
uchar* pdst = dst.ptr();
for (int i = 0; i < src.rows; i++, pmap += mapstep, pdst += dst.step)
{ {
const uchar* _map = mask.ptr<uchar>(i+1) + 1; for (int j = 0; j < src.cols; j++)
uchar* _dst = dst.ptr<uchar>(i); pdst[j] = (uchar)-(pmap[j] >> 1);
for( j = 0; j < size.width; j++ )
_dst[j] = (uchar)-(_map[j] >> 1);
} }
} }
......
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