2010-05-12 01:44:00 +08:00
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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2015-01-12 15:59:30 +08:00
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// Copyright (C) 2014, Itseez Inc., all rights reserved.
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2010-05-12 01:44:00 +08:00
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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2014-08-01 22:11:20 +08:00
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#include "opencl_kernels_imgproc.hpp"
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2016-09-30 23:22:24 +08:00
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#include "opencv2/core/hal/intrin.hpp"
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2016-08-05 22:20:56 +08:00
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#include <queue>
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2010-05-12 01:44:00 +08:00
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2016-11-25 17:35:55 +08:00
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#include "opencv2/core/openvx/ovx_defs.hpp"
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2016-07-11 21:08:09 +08:00
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#ifdef _MSC_VER
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#pragma warning( disable: 4127 ) // conditional expression is constant
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#endif
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2014-04-02 16:20:12 +08:00
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2015-09-25 22:50:15 +08:00
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#if defined (HAVE_IPP) && (IPP_VERSION_X100 >= 700)
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2013-08-28 21:00:26 +08:00
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#define USE_IPP_CANNY 1
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#else
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2015-09-25 22:13:11 +08:00
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#define USE_IPP_CANNY 0
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2013-08-28 21:00:26 +08:00
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#endif
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2014-04-02 16:20:12 +08:00
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2014-01-14 18:10:24 +08:00
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2013-08-28 21:00:26 +08:00
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namespace cv
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{
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2016-07-11 21:08:09 +08:00
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static void CannyImpl(Mat& dx_, Mat& dy_, Mat& _dst, double low_thresh, double high_thresh, bool L2gradient);
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2015-09-25 22:13:11 +08:00
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#ifdef HAVE_IPP
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2016-07-11 21:34:21 +08:00
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template <bool useCustomDeriv>
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static bool ippCanny(const Mat& _src, const Mat& dx_, const Mat& dy_, Mat& _dst, float low, float high)
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2013-08-28 21:00:26 +08:00
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{
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2016-08-18 14:53:00 +08:00
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CV_INSTRUMENT_REGION_IPP()
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2015-09-25 22:13:11 +08:00
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#if USE_IPP_CANNY
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2016-09-07 23:30:17 +08:00
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if (!useCustomDeriv && _src.isSubmatrix())
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return false; // IPP Sobel doesn't support transparent ROI border
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2013-08-28 21:00:26 +08:00
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int size = 0, size1 = 0;
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IppiSize roi = { _src.cols, _src.rows };
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2016-07-11 21:34:21 +08:00
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if (ippiCannyGetSize(roi, &size) < 0)
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2014-04-16 23:23:44 +08:00
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return false;
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2016-07-11 21:34:21 +08:00
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if (!useCustomDeriv)
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{
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#if IPP_VERSION_X100 < 900
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if (ippiFilterSobelNegVertGetBufferSize_8u16s_C1R(roi, ippMskSize3x3, &size1) < 0)
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return false;
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size = std::max(size, size1);
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if (ippiFilterSobelHorizGetBufferSize_8u16s_C1R(roi, ippMskSize3x3, &size1) < 0)
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return false;
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2015-09-25 22:56:19 +08:00
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#else
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2016-07-11 21:34:21 +08:00
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if (ippiFilterSobelNegVertBorderGetBufferSize(roi, ippMskSize3x3, ipp8u, ipp16s, 1, &size1) < 0)
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return false;
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size = std::max(size, size1);
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if (ippiFilterSobelHorizBorderGetBufferSize(roi, ippMskSize3x3, ipp8u, ipp16s, 1, &size1) < 0)
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return false;
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2015-09-25 22:56:19 +08:00
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#endif
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2016-07-11 21:34:21 +08:00
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size = std::max(size, size1);
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}
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2013-08-28 21:00:26 +08:00
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AutoBuffer<uchar> buf(size + 64);
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uchar* buffer = alignPtr((uchar*)buf, 32);
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2016-07-11 21:34:21 +08:00
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Mat dx, dy;
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if (!useCustomDeriv)
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{
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Mat _dx(_src.rows, _src.cols, CV_16S);
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2016-08-18 14:53:00 +08:00
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if( CV_INSTRUMENT_FUN_IPP(ippiFilterSobelNegVertBorder_8u16s_C1R, _src.ptr(), (int)_src.step,
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2016-07-11 21:34:21 +08:00
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_dx.ptr<short>(), (int)_dx.step, roi,
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ippMskSize3x3, ippBorderRepl, 0, buffer) < 0 )
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return false;
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2013-08-28 21:00:26 +08:00
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2016-07-11 21:34:21 +08:00
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Mat _dy(_src.rows, _src.cols, CV_16S);
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2016-08-18 14:53:00 +08:00
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if( CV_INSTRUMENT_FUN_IPP(ippiFilterSobelHorizBorder_8u16s_C1R, _src.ptr(), (int)_src.step,
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2016-07-11 21:34:21 +08:00
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_dy.ptr<short>(), (int)_dy.step, roi,
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ippMskSize3x3, ippBorderRepl, 0, buffer) < 0 )
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return false;
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2013-08-28 21:00:26 +08:00
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2016-07-11 21:34:21 +08:00
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swap(dx, _dx);
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swap(dy, _dy);
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}
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else
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{
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dx = dx_;
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dy = dy_;
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}
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2016-08-18 14:53:00 +08:00
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if( CV_INSTRUMENT_FUN_IPP(ippiCanny_16s8u_C1R, dx.ptr<short>(), (int)dx.step,
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2016-07-11 21:34:21 +08:00
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dy.ptr<short>(), (int)dy.step,
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2014-08-13 19:08:27 +08:00
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_dst.ptr(), (int)_dst.step, roi, low, high, buffer) < 0 )
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2013-08-28 21:00:26 +08:00
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return false;
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return true;
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2015-09-25 22:13:11 +08:00
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#else
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2016-07-11 21:34:21 +08:00
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CV_UNUSED(_src); CV_UNUSED(dx_); CV_UNUSED(dy_); CV_UNUSED(_dst); CV_UNUSED(low); CV_UNUSED(high);
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2015-09-25 22:13:11 +08:00
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return false;
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#endif
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2013-08-28 21:00:26 +08:00
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}
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#endif
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2014-01-27 17:25:21 +08:00
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#ifdef HAVE_OPENCL
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2016-07-11 21:34:21 +08:00
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template <bool useCustomDeriv>
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static bool ocl_Canny(InputArray _src, const UMat& dx_, const UMat& dy_, OutputArray _dst, float low_thresh, float high_thresh,
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2014-01-14 18:10:24 +08:00
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int aperture_size, bool L2gradient, int cn, const Size & size)
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{
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2016-11-07 17:15:51 +08:00
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CV_INSTRUMENT_REGION_OPENCL()
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2014-07-15 21:04:50 +08:00
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UMat map;
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const ocl::Device &dev = ocl::Device::getDefault();
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int max_wg_size = (int)dev.maxWorkGroupSize();
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int lSizeX = 32;
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int lSizeY = max_wg_size / 32;
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if (lSizeY == 0)
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{
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lSizeX = 16;
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lSizeY = max_wg_size / 16;
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}
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if (lSizeY == 0)
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{
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lSizeY = 1;
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}
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2014-01-14 18:10:24 +08:00
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if (L2gradient)
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{
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low_thresh = std::min(32767.0f, low_thresh);
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high_thresh = std::min(32767.0f, high_thresh);
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2014-03-19 23:56:40 +08:00
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if (low_thresh > 0)
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low_thresh *= low_thresh;
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if (high_thresh > 0)
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high_thresh *= high_thresh;
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2014-01-14 18:10:24 +08:00
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}
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int low = cvFloor(low_thresh), high = cvFloor(high_thresh);
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2016-07-11 21:34:21 +08:00
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if (!useCustomDeriv &&
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aperture_size == 3 && !_src.isSubmatrix())
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2014-01-14 18:10:24 +08:00
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{
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2014-07-15 21:04:50 +08:00
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/*
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stage1_with_sobel:
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Sobel operator
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Calc magnitudes
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Non maxima suppression
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Double thresholding
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*/
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char cvt[40];
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ocl::Kernel with_sobel("stage1_with_sobel", ocl::imgproc::canny_oclsrc,
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2014-11-06 18:07:33 +08:00
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format("-D WITH_SOBEL -D cn=%d -D TYPE=%s -D convert_floatN=%s -D floatN=%s -D GRP_SIZEX=%d -D GRP_SIZEY=%d%s",
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2014-07-15 21:04:50 +08:00
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cn, ocl::memopTypeToStr(_src.depth()),
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2014-11-06 18:07:33 +08:00
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ocl::convertTypeStr(_src.depth(), CV_32F, cn, cvt),
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ocl::typeToStr(CV_MAKE_TYPE(CV_32F, cn)),
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2014-07-15 21:04:50 +08:00
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lSizeX, lSizeY,
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L2gradient ? " -D L2GRAD" : ""));
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if (with_sobel.empty())
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2014-01-14 18:10:24 +08:00
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return false;
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2014-07-15 21:04:50 +08:00
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UMat src = _src.getUMat();
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map.create(size, CV_32S);
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with_sobel.args(ocl::KernelArg::ReadOnly(src),
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ocl::KernelArg::WriteOnlyNoSize(map),
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2014-11-06 18:07:33 +08:00
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(float) low, (float) high);
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2014-01-14 18:10:24 +08:00
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2015-10-16 22:10:00 +08:00
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size_t globalsize[2] = { (size_t)size.width, (size_t)size.height },
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localsize[2] = { (size_t)lSizeX, (size_t)lSizeY };
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2014-01-14 18:10:24 +08:00
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2014-07-15 21:04:50 +08:00
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if (!with_sobel.run(2, globalsize, localsize, false))
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2014-01-14 18:10:24 +08:00
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return false;
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}
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else
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{
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2014-07-15 21:04:50 +08:00
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/*
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stage1_without_sobel:
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Calc magnitudes
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Non maxima suppression
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Double thresholding
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*/
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UMat dx, dy;
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2016-07-11 21:34:21 +08:00
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if (!useCustomDeriv)
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{
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Sobel(_src, dx, CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REPLICATE);
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Sobel(_src, dy, CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REPLICATE);
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}
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else
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{
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dx = dx_;
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dy = dy_;
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}
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2014-01-14 18:10:24 +08:00
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2014-07-15 21:04:50 +08:00
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ocl::Kernel without_sobel("stage1_without_sobel", ocl::imgproc::canny_oclsrc,
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format("-D WITHOUT_SOBEL -D cn=%d -D GRP_SIZEX=%d -D GRP_SIZEY=%d%s",
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cn, lSizeX, lSizeY, L2gradient ? " -D L2GRAD" : ""));
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if (without_sobel.empty())
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2014-01-14 18:10:24 +08:00
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return false;
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2014-07-15 21:04:50 +08:00
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map.create(size, CV_32S);
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without_sobel.args(ocl::KernelArg::ReadOnlyNoSize(dx), ocl::KernelArg::ReadOnlyNoSize(dy),
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ocl::KernelArg::WriteOnly(map),
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low, high);
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2015-10-16 22:10:00 +08:00
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size_t globalsize[2] = { (size_t)size.width, (size_t)size.height },
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localsize[2] = { (size_t)lSizeX, (size_t)lSizeY };
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2014-01-14 18:10:24 +08:00
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2014-07-15 21:04:50 +08:00
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if (!without_sobel.run(2, globalsize, localsize, false))
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2014-01-14 18:10:24 +08:00
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return false;
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}
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2014-07-15 21:04:50 +08:00
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int PIX_PER_WI = 8;
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/*
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stage2:
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hysteresis (add weak edges if they are connected with strong edges)
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*/
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2014-01-14 18:10:24 +08:00
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2014-09-02 21:25:25 +08:00
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int sizey = lSizeY / PIX_PER_WI;
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if (sizey == 0)
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sizey = 1;
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2015-10-16 22:10:00 +08:00
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size_t globalsize[2] = { (size_t)size.width, ((size_t)size.height + PIX_PER_WI - 1) / PIX_PER_WI }, localsize[2] = { (size_t)lSizeX, (size_t)sizey };
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2014-09-02 21:25:25 +08:00
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2014-07-15 21:04:50 +08:00
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ocl::Kernel edgesHysteresis("stage2_hysteresis", ocl::imgproc::canny_oclsrc,
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2014-09-02 21:25:25 +08:00
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format("-D STAGE2 -D PIX_PER_WI=%d -D LOCAL_X=%d -D LOCAL_Y=%d",
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PIX_PER_WI, lSizeX, sizey));
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2014-01-14 18:10:24 +08:00
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2014-07-15 21:04:50 +08:00
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if (edgesHysteresis.empty())
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2014-01-14 18:10:24 +08:00
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return false;
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2014-07-15 21:04:50 +08:00
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edgesHysteresis.args(ocl::KernelArg::ReadWrite(map));
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if (!edgesHysteresis.run(2, globalsize, localsize, false))
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return false;
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2014-01-14 18:10:24 +08:00
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// get edges
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2014-07-15 21:04:50 +08:00
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ocl::Kernel getEdgesKernel("getEdges", ocl::imgproc::canny_oclsrc,
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format("-D GET_EDGES -D PIX_PER_WI=%d", PIX_PER_WI));
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2014-01-14 18:10:24 +08:00
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if (getEdgesKernel.empty())
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return false;
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|
2014-03-19 23:56:40 +08:00
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_dst.create(size, CV_8UC1);
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2014-01-14 18:10:24 +08:00
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UMat dst = _dst.getUMat();
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|
|
2014-07-15 21:04:50 +08:00
|
|
|
getEdgesKernel.args(ocl::KernelArg::ReadOnly(map), ocl::KernelArg::WriteOnlyNoSize(dst));
|
2014-03-19 23:56:40 +08:00
|
|
|
|
2014-01-14 18:10:24 +08:00
|
|
|
return getEdgesKernel.run(2, globalsize, NULL, false);
|
|
|
|
}
|
|
|
|
|
2014-01-27 17:25:21 +08:00
|
|
|
#endif
|
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
class parallelCanny : public ParallelLoopBody
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2015-01-08 01:54:20 +08:00
|
|
|
public:
|
2016-08-05 22:20:56 +08:00
|
|
|
parallelCanny(const Mat& _src, uchar* _map, int _low, int _high, int _aperture_size, bool _L2gradient, std::queue<uchar*> *borderPeaksParallel) :
|
|
|
|
src(_src), map(_map), low(_low), high(_high), aperture_size(_aperture_size), L2gradient(_L2gradient), _borderPeaksParallel(borderPeaksParallel)
|
|
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
~parallelCanny()
|
|
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
parallelCanny& operator=(const parallelCanny&) { return *this; }
|
|
|
|
|
|
|
|
void operator()(const Range &boundaries) const
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
2016-10-29 12:24:31 +08:00
|
|
|
bool haveSIMD = hasSIMD128();
|
2015-01-08 01:54:20 +08:00
|
|
|
#endif
|
|
|
|
|
|
|
|
const int type = src.type(), cn = CV_MAT_CN(type);
|
|
|
|
|
|
|
|
Mat dx, dy;
|
2016-08-05 22:20:56 +08:00
|
|
|
std::queue<uchar*> borderPeaksLocal;
|
2015-01-08 01:54:20 +08:00
|
|
|
|
|
|
|
ptrdiff_t mapstep = src.cols + 2;
|
|
|
|
|
|
|
|
// In sobel transform we calculate ksize2 extra lines for the first and last rows of each slice
|
|
|
|
// because IPPDerivSobel expects only isolated ROIs, in contrast with the opencv version which
|
|
|
|
// uses the pixels outside of the ROI to form a border.
|
2016-08-05 22:20:56 +08:00
|
|
|
int ksize2 = aperture_size / 2;
|
|
|
|
// If Scharr filter: aperture_size is 3 and ksize2 is 1
|
|
|
|
if(aperture_size == -1)
|
|
|
|
{
|
|
|
|
ksize2 = 1;
|
|
|
|
}
|
2015-01-08 01:54:20 +08:00
|
|
|
|
|
|
|
if (boundaries.start == 0 && boundaries.end == src.rows)
|
|
|
|
{
|
|
|
|
Mat tempdx(boundaries.end - boundaries.start + 2, src.cols, CV_16SC(cn));
|
|
|
|
Mat tempdy(boundaries.end - boundaries.start + 2, src.cols, CV_16SC(cn));
|
|
|
|
|
|
|
|
memset(tempdx.ptr<short>(0), 0, cn * src.cols*sizeof(short));
|
|
|
|
memset(tempdy.ptr<short>(0), 0, cn * src.cols*sizeof(short));
|
|
|
|
memset(tempdx.ptr<short>(tempdx.rows - 1), 0, cn * src.cols*sizeof(short));
|
|
|
|
memset(tempdy.ptr<short>(tempdy.rows - 1), 0, cn * src.cols*sizeof(short));
|
|
|
|
|
|
|
|
Sobel(src, tempdx.rowRange(1, tempdx.rows - 1), CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
Sobel(src, tempdy.rowRange(1, tempdy.rows - 1), CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
|
|
|
|
dx = tempdx;
|
|
|
|
dy = tempdy;
|
|
|
|
}
|
|
|
|
else if (boundaries.start == 0)
|
|
|
|
{
|
|
|
|
Mat tempdx(boundaries.end - boundaries.start + 2 + ksize2, src.cols, CV_16SC(cn));
|
|
|
|
Mat tempdy(boundaries.end - boundaries.start + 2 + ksize2, src.cols, CV_16SC(cn));
|
|
|
|
|
|
|
|
memset(tempdx.ptr<short>(0), 0, cn * src.cols*sizeof(short));
|
|
|
|
memset(tempdy.ptr<short>(0), 0, cn * src.cols*sizeof(short));
|
|
|
|
|
|
|
|
Sobel(src.rowRange(boundaries.start, boundaries.end + 1 + ksize2), tempdx.rowRange(1, tempdx.rows),
|
|
|
|
CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
Sobel(src.rowRange(boundaries.start, boundaries.end + 1 + ksize2), tempdy.rowRange(1, tempdy.rows),
|
|
|
|
CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
|
|
|
|
dx = tempdx.rowRange(0, tempdx.rows - ksize2);
|
|
|
|
dy = tempdy.rowRange(0, tempdy.rows - ksize2);
|
|
|
|
}
|
|
|
|
else if (boundaries.end == src.rows)
|
|
|
|
{
|
|
|
|
Mat tempdx(boundaries.end - boundaries.start + 2 + ksize2, src.cols, CV_16SC(cn));
|
|
|
|
Mat tempdy(boundaries.end - boundaries.start + 2 + ksize2, src.cols, CV_16SC(cn));
|
|
|
|
|
|
|
|
memset(tempdx.ptr<short>(tempdx.rows - 1), 0, cn * src.cols*sizeof(short));
|
|
|
|
memset(tempdy.ptr<short>(tempdy.rows - 1), 0, cn * src.cols*sizeof(short));
|
|
|
|
|
|
|
|
Sobel(src.rowRange(boundaries.start - 1 - ksize2, boundaries.end), tempdx.rowRange(0, tempdx.rows - 1),
|
|
|
|
CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
Sobel(src.rowRange(boundaries.start - 1 - ksize2, boundaries.end), tempdy.rowRange(0, tempdy.rows - 1),
|
|
|
|
CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
|
|
|
|
dx = tempdx.rowRange(ksize2, tempdx.rows);
|
|
|
|
dy = tempdy.rowRange(ksize2, tempdy.rows);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
Mat tempdx(boundaries.end - boundaries.start + 2 + 2*ksize2, src.cols, CV_16SC(cn));
|
|
|
|
Mat tempdy(boundaries.end - boundaries.start + 2 + 2*ksize2, src.cols, CV_16SC(cn));
|
|
|
|
|
|
|
|
Sobel(src.rowRange(boundaries.start - 1 - ksize2, boundaries.end + 1 + ksize2), tempdx,
|
|
|
|
CV_16S, 1, 0, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
Sobel(src.rowRange(boundaries.start - 1 - ksize2, boundaries.end + 1 + ksize2), tempdy,
|
|
|
|
CV_16S, 0, 1, aperture_size, 1, 0, BORDER_REPLICATE);
|
|
|
|
|
|
|
|
dx = tempdx.rowRange(ksize2, tempdx.rows - ksize2);
|
|
|
|
dy = tempdy.rowRange(ksize2, tempdy.rows - ksize2);
|
|
|
|
}
|
|
|
|
|
|
|
|
int maxsize = std::max(1 << 10, src.cols * (boundaries.end - boundaries.start) / 10);
|
|
|
|
std::vector<uchar*> stack(maxsize);
|
|
|
|
uchar **stack_top = &stack[0];
|
|
|
|
uchar **stack_bottom = &stack[0];
|
|
|
|
|
|
|
|
AutoBuffer<uchar> buffer(cn * mapstep * 3 * sizeof(int));
|
|
|
|
|
|
|
|
int* mag_buf[3];
|
|
|
|
mag_buf[0] = (int*)(uchar*)buffer;
|
|
|
|
mag_buf[1] = mag_buf[0] + mapstep*cn;
|
|
|
|
mag_buf[2] = mag_buf[1] + mapstep*cn;
|
|
|
|
|
|
|
|
// calculate magnitude and angle of gradient, perform non-maxima suppression.
|
|
|
|
// fill the map with one of the following values:
|
|
|
|
// 0 - the pixel might belong to an edge
|
|
|
|
// 1 - the pixel can not belong to an edge
|
|
|
|
// 2 - the pixel does belong to an edge
|
|
|
|
for (int i = boundaries.start - 1; i <= boundaries.end; i++)
|
|
|
|
{
|
|
|
|
int* _norm = mag_buf[(i > boundaries.start) - (i == boundaries.start - 1) + 1] + 1;
|
|
|
|
|
|
|
|
short* _dx = dx.ptr<short>(i - boundaries.start + 1);
|
|
|
|
short* _dy = dy.ptr<short>(i - boundaries.start + 1);
|
|
|
|
|
|
|
|
if (!L2gradient)
|
|
|
|
{
|
|
|
|
int j = 0, width = src.cols * cn;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if (haveSIMD)
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
|
|
|
for ( ; j <= width - 8; j += 8)
|
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int16x8 v_dx = v_load((const short *)(_dx + j));
|
|
|
|
v_int16x8 v_dy = v_load((const short *)(_dy + j));
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_dx = v_reinterpret_as_s16(v_abs(v_dx));
|
|
|
|
v_dy = v_reinterpret_as_s16(v_abs(v_dy));
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_dx_ml;
|
|
|
|
v_int32x4 v_dy_ml;
|
|
|
|
v_int32x4 v_dx_mh;
|
|
|
|
v_int32x4 v_dy_mh;
|
|
|
|
v_expand(v_dx, v_dx_ml, v_dx_mh);
|
|
|
|
v_expand(v_dy, v_dy_ml, v_dy_mh);
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store((int *)(_norm + j), v_dx_ml + v_dy_ml);
|
|
|
|
v_store((int *)(_norm + j + 4), v_dx_mh + v_dy_mh);
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
for ( ; j < width; ++j)
|
|
|
|
_norm[j] = std::abs(int(_dx[j])) + std::abs(int(_dy[j]));
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
int j = 0, width = src.cols * cn;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if (haveSIMD)
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
for ( ; j <= width - 8; j += 8)
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int16x8 v_dx = v_load((const short*)(_dx + j));
|
|
|
|
v_int16x8 v_dy = v_load((const short*)(_dy + j));
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_dxp_low, v_dxp_high;
|
|
|
|
v_int32x4 v_dyp_low, v_dyp_high;
|
|
|
|
v_expand(v_dx, v_dxp_low, v_dxp_high);
|
|
|
|
v_expand(v_dy, v_dyp_low, v_dyp_high);
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store((int *)(_norm + j), v_dxp_low*v_dxp_low+v_dyp_low*v_dyp_low);
|
|
|
|
v_store((int *)(_norm + j + 4), v_dxp_high*v_dxp_high+v_dyp_high*v_dyp_high);
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
for ( ; j < width; ++j)
|
|
|
|
_norm[j] = int(_dx[j])*_dx[j] + int(_dy[j])*_dy[j];
|
|
|
|
}
|
|
|
|
|
|
|
|
if (cn > 1)
|
|
|
|
{
|
|
|
|
for(int j = 0, jn = 0; j < src.cols; ++j, jn += cn)
|
|
|
|
{
|
|
|
|
int maxIdx = jn;
|
|
|
|
for(int k = 1; k < 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;
|
|
|
|
|
|
|
|
// at the very beginning we do not have a complete ring
|
|
|
|
// buffer of 3 magnitude rows for non-maxima suppression
|
|
|
|
if (i <= boundaries.start)
|
|
|
|
continue;
|
|
|
|
|
|
|
|
uchar* _map = map + mapstep*i + 1;
|
|
|
|
_map[-1] = _map[src.cols] = 1;
|
|
|
|
|
|
|
|
int* _mag = mag_buf[1] + 1; // take the central row
|
|
|
|
ptrdiff_t magstep1 = mag_buf[2] - mag_buf[1];
|
|
|
|
ptrdiff_t magstep2 = mag_buf[0] - mag_buf[1];
|
|
|
|
|
|
|
|
const short* _x = dx.ptr<short>(i - boundaries.start);
|
|
|
|
const short* _y = dy.ptr<short>(i - boundaries.start);
|
|
|
|
|
|
|
|
if ((stack_top - stack_bottom) + src.cols > maxsize)
|
|
|
|
{
|
|
|
|
int sz = (int)(stack_top - stack_bottom);
|
|
|
|
maxsize = std::max(maxsize * 3/2, sz + src.cols);
|
|
|
|
stack.resize(maxsize);
|
|
|
|
stack_bottom = &stack[0];
|
|
|
|
stack_top = stack_bottom + sz;
|
|
|
|
}
|
|
|
|
|
|
|
|
#define CANNY_PUSH(d) *(d) = uchar(2), *stack_top++ = (d)
|
|
|
|
#define CANNY_POP(d) (d) = *--stack_top
|
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
#define CANNY_SHIFT 15
|
|
|
|
const int TG22 = (int)(0.4142135623730950488016887242097*(1 << CANNY_SHIFT) + 0.5);
|
|
|
|
|
2016-09-05 18:51:36 +08:00
|
|
|
int prev_flag = 0, j = 0;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if (haveSIMD)
|
2016-09-05 18:51:36 +08:00
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_low = v_setall_s32(low);
|
|
|
|
v_int8x16 v_one = v_setall_s8(1);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
|
|
|
for (; j <= src.cols - 16; j += 16)
|
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_m1 = v_load((const int*)(_mag + j));
|
|
|
|
v_int32x4 v_m2 = v_load((const int*)(_mag + j + 4));
|
|
|
|
v_int32x4 v_m3 = v_load((const int*)(_mag + j + 8));
|
|
|
|
v_int32x4 v_m4 = v_load((const int*)(_mag + j + 12));
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store((signed char*)(_map + j), v_one);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_cmp1 = v_m1 > v_low;
|
|
|
|
v_int32x4 v_cmp2 = v_m2 > v_low;
|
|
|
|
v_int32x4 v_cmp3 = v_m3 > v_low;
|
|
|
|
v_int32x4 v_cmp4 = v_m4 > v_low;
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int16x8 v_cmp80 = v_pack(v_cmp1, v_cmp2);
|
|
|
|
v_int16x8 v_cmp81 = v_pack(v_cmp3, v_cmp4);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int8x16 v_cmp = v_pack(v_cmp80, v_cmp81);
|
|
|
|
unsigned int mask = v_signmask(v_cmp);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
|
|
|
if (mask)
|
|
|
|
{
|
|
|
|
int m, k = j;
|
|
|
|
|
|
|
|
for (; mask; ++k, mask >>= 1)
|
|
|
|
{
|
|
|
|
if (mask & 0x00000001)
|
|
|
|
{
|
|
|
|
m = _mag[k];
|
|
|
|
int xs = _x[k];
|
|
|
|
int ys = _y[k];
|
|
|
|
int x = std::abs(xs);
|
|
|
|
int y = std::abs(ys) << CANNY_SHIFT;
|
|
|
|
|
|
|
|
int tg22x = x * TG22;
|
|
|
|
|
|
|
|
if (y < tg22x)
|
|
|
|
{
|
|
|
|
if (m > _mag[k - 1] && m >= _mag[k + 1]) goto _canny_push_sse;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
int tg67x = tg22x + (x << (CANNY_SHIFT + 1));
|
|
|
|
if (y > tg67x)
|
|
|
|
{
|
|
|
|
if (m > _mag[k + magstep2] && m >= _mag[k + magstep1]) goto _canny_push_sse;
|
|
|
|
} else
|
|
|
|
{
|
|
|
|
int s = (xs ^ ys) < 0 ? -1 : 1;
|
|
|
|
if (m > _mag[k + magstep2 - s] && m > _mag[k + magstep1 + s]) goto _canny_push_sse;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
prev_flag = 0;
|
|
|
|
continue;
|
|
|
|
|
|
|
|
_canny_push_sse:
|
|
|
|
// _map[k-mapstep] is short-circuited at the start because previous thread is
|
|
|
|
// responsible for initializing it.
|
|
|
|
if (m > high && !prev_flag && (i <= boundaries.start + 1 || _map[k - mapstep] != 2))
|
|
|
|
{
|
|
|
|
CANNY_PUSH(_map + k);
|
|
|
|
prev_flag = 1;
|
|
|
|
} else
|
|
|
|
_map[k] = 0;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
if (prev_flag && ((k < j+16) || (k < src.cols && _mag[k] <= high)))
|
|
|
|
prev_flag = 0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
for (; j < src.cols; j++)
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
|
|
|
int m = _mag[j];
|
|
|
|
|
|
|
|
if (m > low)
|
|
|
|
{
|
|
|
|
int xs = _x[j];
|
|
|
|
int ys = _y[j];
|
|
|
|
int x = std::abs(xs);
|
|
|
|
int y = std::abs(ys) << CANNY_SHIFT;
|
|
|
|
|
|
|
|
int tg22x = x * TG22;
|
|
|
|
|
|
|
|
if (y < tg22x)
|
|
|
|
{
|
2016-09-05 18:51:36 +08:00
|
|
|
if (m > _mag[j-1] && m >= _mag[j+1]) goto _canny_push;
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
int tg67x = tg22x + (x << (CANNY_SHIFT+1));
|
|
|
|
if (y > tg67x)
|
|
|
|
{
|
2016-09-05 18:51:36 +08:00
|
|
|
if (m > _mag[j+magstep2] && m >= _mag[j+magstep1]) goto _canny_push;
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
int s = (xs ^ ys) < 0 ? -1 : 1;
|
2016-09-05 18:51:36 +08:00
|
|
|
if (m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s]) goto _canny_push;
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
2016-09-05 18:51:36 +08:00
|
|
|
|
|
|
|
prev_flag = 0;
|
|
|
|
_map[j] = uchar(1);
|
|
|
|
continue;
|
|
|
|
|
|
|
|
_canny_push:
|
|
|
|
// _map[j-mapstep] is short-circuited at the start because previous thread is
|
|
|
|
// responsible for initializing it.
|
|
|
|
if (!prev_flag && m > high && (i <= boundaries.start+1 || _map[j-mapstep] != 2) )
|
2015-01-08 01:54:20 +08:00
|
|
|
{
|
2016-09-05 18:51:36 +08:00
|
|
|
CANNY_PUSH(_map + j);
|
|
|
|
prev_flag = 1;
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
else
|
2016-09-05 18:51:36 +08:00
|
|
|
_map[j] = 0;
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
// scroll the ring buffer
|
|
|
|
_mag = mag_buf[0];
|
|
|
|
mag_buf[0] = mag_buf[1];
|
|
|
|
mag_buf[1] = mag_buf[2];
|
|
|
|
mag_buf[2] = _mag;
|
|
|
|
}
|
|
|
|
|
|
|
|
// now track the edges (hysteresis thresholding)
|
|
|
|
while (stack_top > stack_bottom)
|
|
|
|
{
|
|
|
|
if ((stack_top - stack_bottom) + 8 > maxsize)
|
|
|
|
{
|
|
|
|
int sz = (int)(stack_top - stack_bottom);
|
|
|
|
maxsize = maxsize * 3/2;
|
|
|
|
stack.resize(maxsize);
|
|
|
|
stack_bottom = &stack[0];
|
|
|
|
stack_top = stack_bottom + sz;
|
|
|
|
}
|
|
|
|
|
|
|
|
uchar* m;
|
|
|
|
CANNY_POP(m);
|
|
|
|
|
|
|
|
// Stops thresholding from expanding to other slices by sending pixels in the borders of each
|
|
|
|
// slice in a queue to be serially processed later.
|
|
|
|
if ( (m < map + (boundaries.start + 2) * mapstep) || (m >= map + boundaries.end * mapstep) )
|
|
|
|
{
|
2016-08-05 22:20:56 +08:00
|
|
|
borderPeaksLocal.push(m);
|
2015-01-08 01:54:20 +08:00
|
|
|
continue;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (!m[-1]) CANNY_PUSH(m - 1);
|
|
|
|
if (!m[1]) CANNY_PUSH(m + 1);
|
|
|
|
if (!m[-mapstep-1]) CANNY_PUSH(m - mapstep - 1);
|
|
|
|
if (!m[-mapstep]) CANNY_PUSH(m - mapstep);
|
|
|
|
if (!m[-mapstep+1]) CANNY_PUSH(m - mapstep + 1);
|
|
|
|
if (!m[mapstep-1]) CANNY_PUSH(m + mapstep - 1);
|
|
|
|
if (!m[mapstep]) CANNY_PUSH(m + mapstep);
|
|
|
|
if (!m[mapstep+1]) CANNY_PUSH(m + mapstep + 1);
|
|
|
|
}
|
2016-08-05 22:20:56 +08:00
|
|
|
|
|
|
|
AutoLock lock(mutex);
|
|
|
|
while (!borderPeaksLocal.empty()) {
|
|
|
|
_borderPeaksParallel->push(borderPeaksLocal.front());
|
|
|
|
borderPeaksLocal.pop();
|
|
|
|
}
|
2015-01-08 01:54:20 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
private:
|
|
|
|
const Mat& src;
|
|
|
|
uchar* map;
|
2016-08-05 22:20:56 +08:00
|
|
|
int low, high, aperture_size;
|
2015-01-08 01:54:20 +08:00
|
|
|
bool L2gradient;
|
2016-08-05 22:20:56 +08:00
|
|
|
std::queue<uchar*> *_borderPeaksParallel;
|
|
|
|
mutable Mutex mutex;
|
2015-01-08 01:54:20 +08:00
|
|
|
};
|
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
class finalPass : public ParallelLoopBody
|
|
|
|
{
|
|
|
|
|
|
|
|
public:
|
2016-09-05 18:51:36 +08:00
|
|
|
finalPass(uchar *_map, Mat &_dst, ptrdiff_t _mapstep) :
|
|
|
|
map(_map), dst(_dst), mapstep(_mapstep) {}
|
2016-08-05 22:20:56 +08:00
|
|
|
|
|
|
|
~finalPass() {}
|
|
|
|
|
|
|
|
finalPass& operator=(const finalPass&) {return *this;}
|
|
|
|
|
|
|
|
void operator()(const Range &boundaries) const
|
|
|
|
{
|
|
|
|
// the final pass, form the final image
|
|
|
|
const uchar* pmap = map + mapstep + 1 + (ptrdiff_t)(mapstep * boundaries.start);
|
|
|
|
uchar* pdst = dst.ptr() + (ptrdiff_t)(dst.step * boundaries.start);
|
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
2016-10-29 12:24:31 +08:00
|
|
|
bool haveSIMD = hasSIMD128();
|
2015-01-08 01:54:20 +08:00
|
|
|
#endif
|
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
for (int i = boundaries.start; i < boundaries.end; i++, pmap += mapstep, pdst += dst.step)
|
|
|
|
{
|
|
|
|
int j = 0;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if(haveSIMD) {
|
|
|
|
const v_int8x16 v_zero = v_setzero_s8();
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-05 18:51:36 +08:00
|
|
|
for(; j <= dst.cols - 32; j += 32) {
|
2016-09-30 23:22:24 +08:00
|
|
|
v_uint8x16 v_pmap1 = v_load((const unsigned char*)(pmap + j));
|
|
|
|
v_uint8x16 v_pmap2 = v_load((const unsigned char*)(pmap + j + 16));
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_uint16x8 v_pmaplo1;
|
|
|
|
v_uint16x8 v_pmaphi1;
|
|
|
|
v_uint16x8 v_pmaplo2;
|
|
|
|
v_uint16x8 v_pmaphi2;
|
|
|
|
v_expand(v_pmap1, v_pmaplo1, v_pmaphi1);
|
|
|
|
v_expand(v_pmap2, v_pmaplo2, v_pmaphi2);
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_pmaplo1 = v_pmaplo1 >> 1;
|
|
|
|
v_pmaphi1 = v_pmaphi1 >> 1;
|
|
|
|
v_pmaplo2 = v_pmaplo2 >> 1;
|
|
|
|
v_pmaphi2 = v_pmaphi2 >> 1;
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_pmap1 = v_pack(v_pmaplo1, v_pmaphi1);
|
|
|
|
v_pmap2 = v_pack(v_pmaplo2, v_pmaphi2);
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_pmap1 = v_reinterpret_as_u8(v_zero - v_reinterpret_as_s8(v_pmap1));
|
|
|
|
v_pmap2 = v_reinterpret_as_u8(v_zero - v_reinterpret_as_s8(v_pmap2));
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store((pdst + j), v_pmap1);
|
|
|
|
v_store((pdst + j + 16), v_pmap2);
|
2016-08-05 22:20:56 +08:00
|
|
|
}
|
|
|
|
|
2016-09-05 18:51:36 +08:00
|
|
|
for(; j <= dst.cols - 16; j += 16) {
|
2016-09-30 23:22:24 +08:00
|
|
|
v_uint8x16 v_pmap = v_load((const unsigned char*)(pmap + j));
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_uint16x8 v_pmaplo;
|
|
|
|
v_uint16x8 v_pmaphi;
|
|
|
|
v_expand(v_pmap, v_pmaplo, v_pmaphi);
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_pmaplo = v_pmaplo >> 1;
|
|
|
|
v_pmaphi = v_pmaphi >> 1;
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_pmap = v_pack(v_pmaplo, v_pmaphi);
|
|
|
|
v_pmap = v_reinterpret_as_u8(v_zero - v_reinterpret_as_s8(v_pmap));
|
2016-08-05 22:20:56 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store((pdst + j), v_pmap);
|
2016-08-05 22:20:56 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
2016-09-05 18:51:36 +08:00
|
|
|
for (; j < dst.cols; j++)
|
2016-08-05 22:20:56 +08:00
|
|
|
pdst[j] = (uchar)-(pmap[j] >> 1);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
private:
|
|
|
|
uchar *map;
|
2016-09-05 18:51:36 +08:00
|
|
|
Mat &dst;
|
2016-08-05 22:20:56 +08:00
|
|
|
ptrdiff_t mapstep;
|
|
|
|
};
|
|
|
|
|
2016-11-25 17:35:55 +08:00
|
|
|
#ifdef HAVE_OPENVX
|
|
|
|
static bool openvx_canny(const Mat& src, Mat& dst, int loVal, int hiVal, int kSize, bool useL2)
|
|
|
|
{
|
|
|
|
using namespace ivx;
|
|
|
|
|
|
|
|
Context context = Context::create();
|
|
|
|
try
|
|
|
|
{
|
|
|
|
Image _src = Image::createFromHandle(
|
|
|
|
context,
|
|
|
|
Image::matTypeToFormat(src.type()),
|
|
|
|
Image::createAddressing(src),
|
|
|
|
src.data );
|
|
|
|
Image _dst = Image::createFromHandle(
|
|
|
|
context,
|
|
|
|
Image::matTypeToFormat(dst.type()),
|
|
|
|
Image::createAddressing(dst),
|
|
|
|
dst.data );
|
|
|
|
Threshold threshold = Threshold::createRange(context, VX_TYPE_UINT8, saturate_cast<uchar>(loVal), saturate_cast<uchar>(hiVal));
|
|
|
|
|
|
|
|
#if 0
|
|
|
|
// the code below is disabled because vxuCannyEdgeDetector()
|
|
|
|
// ignores context attribute VX_CONTEXT_IMMEDIATE_BORDER
|
|
|
|
|
|
|
|
// FIXME: may fail in multithread case
|
|
|
|
border_t prevBorder = context.immediateBorder();
|
|
|
|
context.setImmediateBorder(VX_BORDER_REPLICATE);
|
|
|
|
IVX_CHECK_STATUS( vxuCannyEdgeDetector(context, _src, threshold, kSize, (useL2 ? VX_NORM_L2 : VX_NORM_L1), _dst) );
|
|
|
|
context.setImmediateBorder(prevBorder);
|
|
|
|
#else
|
|
|
|
// alternative code without vxuCannyEdgeDetector()
|
|
|
|
Graph graph = Graph::create(context);
|
|
|
|
ivx::Node node = ivx::Node(vxCannyEdgeDetectorNode(graph, _src, threshold, kSize, (useL2 ? VX_NORM_L2 : VX_NORM_L1), _dst) );
|
|
|
|
node.setBorder(VX_BORDER_REPLICATE);
|
|
|
|
graph.verify();
|
|
|
|
graph.process();
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef VX_VERSION_1_1
|
|
|
|
_src.swapHandle();
|
|
|
|
_dst.swapHandle();
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
catch(const WrapperError& e)
|
|
|
|
{
|
2016-12-14 22:31:41 +08:00
|
|
|
VX_DbgThrow(e.what());
|
2016-11-25 17:35:55 +08:00
|
|
|
}
|
|
|
|
catch(const RuntimeError& e)
|
|
|
|
{
|
2016-12-14 22:31:41 +08:00
|
|
|
VX_DbgThrow(e.what());
|
2016-11-25 17:35:55 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
#endif // HAVE_OPENVX
|
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
void Canny( InputArray _src, OutputArray _dst,
|
2012-02-16 05:10:11 +08:00
|
|
|
double low_thresh, double high_thresh,
|
|
|
|
int aperture_size, bool L2gradient )
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2016-08-18 14:53:00 +08:00
|
|
|
CV_INSTRUMENT_REGION()
|
|
|
|
|
2014-01-14 18:10:24 +08:00
|
|
|
const int type = _src.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
|
|
|
|
const Size size = _src.size();
|
2012-10-17 07:18:30 +08:00
|
|
|
|
2014-01-14 18:10:24 +08:00
|
|
|
CV_Assert( depth == CV_8U );
|
|
|
|
_dst.create(size, CV_8U);
|
2012-02-21 19:16:49 +08:00
|
|
|
|
|
|
|
if (!L2gradient && (aperture_size & CV_CANNY_L2_GRADIENT) == CV_CANNY_L2_GRADIENT)
|
|
|
|
{
|
2014-01-14 18:10:24 +08:00
|
|
|
// backward compatibility
|
2012-02-21 19:16:49 +08:00
|
|
|
aperture_size &= ~CV_CANNY_L2_GRADIENT;
|
|
|
|
L2gradient = true;
|
|
|
|
}
|
|
|
|
|
|
|
|
if ((aperture_size & 1) == 0 || (aperture_size != -1 && (aperture_size < 3 || aperture_size > 7)))
|
2016-03-28 20:06:55 +08:00
|
|
|
CV_Error(CV_StsBadFlag, "Aperture size should be odd between 3 and 7");
|
2012-02-21 19:16:49 +08:00
|
|
|
|
2013-08-28 21:00:26 +08:00
|
|
|
if (low_thresh > high_thresh)
|
|
|
|
std::swap(low_thresh, high_thresh);
|
|
|
|
|
2014-03-19 23:56:40 +08:00
|
|
|
CV_OCL_RUN(_dst.isUMat() && (cn == 1 || cn == 3),
|
2016-07-11 21:34:21 +08:00
|
|
|
ocl_Canny<false>(_src, UMat(), UMat(), _dst, (float)low_thresh, (float)high_thresh, aperture_size, L2gradient, cn, size))
|
2014-01-14 18:10:24 +08:00
|
|
|
|
|
|
|
Mat src = _src.getMat(), dst = _dst.getMat();
|
|
|
|
|
2016-11-25 17:35:55 +08:00
|
|
|
CV_OVX_RUN(
|
2016-12-06 23:55:09 +08:00
|
|
|
false && /* disabling due to accuracy issues */
|
2016-12-02 20:59:09 +08:00
|
|
|
src.type() == CV_8UC1 &&
|
|
|
|
!src.isSubmatrix() &&
|
|
|
|
src.cols >= aperture_size &&
|
|
|
|
src.rows >= aperture_size,
|
2016-11-25 17:35:55 +08:00
|
|
|
openvx_canny(
|
|
|
|
src,
|
|
|
|
dst,
|
|
|
|
cvFloor(low_thresh),
|
|
|
|
cvFloor(high_thresh),
|
|
|
|
aperture_size,
|
2016-12-14 22:31:41 +08:00
|
|
|
L2gradient ) )
|
2016-11-25 17:35:55 +08:00
|
|
|
|
2011-11-11 22:45:53 +08:00
|
|
|
#ifdef HAVE_TEGRA_OPTIMIZATION
|
2015-02-27 17:52:11 +08:00
|
|
|
if (tegra::useTegra() && tegra::canny(src, dst, low_thresh, high_thresh, aperture_size, L2gradient))
|
2011-11-11 22:45:53 +08:00
|
|
|
return;
|
|
|
|
#endif
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2016-07-11 21:34:21 +08:00
|
|
|
CV_IPP_RUN(USE_IPP_CANNY && (aperture_size == 3 && !L2gradient && 1 == cn), ippCanny<false>(src, Mat(), Mat(), dst, (float)low_thresh, (float)high_thresh))
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2015-01-08 01:54:20 +08:00
|
|
|
if (L2gradient)
|
|
|
|
{
|
|
|
|
low_thresh = std::min(32767.0, low_thresh);
|
|
|
|
high_thresh = std::min(32767.0, high_thresh);
|
|
|
|
|
|
|
|
if (low_thresh > 0) low_thresh *= low_thresh;
|
|
|
|
if (high_thresh > 0) high_thresh *= high_thresh;
|
|
|
|
}
|
|
|
|
int low = cvFloor(low_thresh);
|
|
|
|
int high = cvFloor(high_thresh);
|
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
ptrdiff_t mapstep = src.cols + 2;
|
|
|
|
AutoBuffer<uchar> buffer((src.cols+2)*(src.rows+2) + cn * mapstep * 3 * sizeof(int));
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
int* mag_buf[3];
|
|
|
|
mag_buf[0] = (int*)(uchar*)buffer;
|
|
|
|
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));
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
uchar *map = (uchar*)(mag_buf[2] + mapstep*cn);
|
|
|
|
memset(map, 1, mapstep);
|
|
|
|
memset(map + mapstep*(src.rows + 1), 1, mapstep);
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
// Minimum number of threads should be 1, maximum should not exceed number of CPU's, because of overhead
|
|
|
|
int numOfThreads = std::max(1, std::min(getNumThreads(), getNumberOfCPUs()));
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
// Make a fallback for pictures with too few rows.
|
|
|
|
int grainSize = src.rows / numOfThreads;
|
|
|
|
int ksize2 = aperture_size / 2;
|
|
|
|
// If Scharr filter: aperture size is 3, ksize2 is 1
|
|
|
|
if(aperture_size == -1)
|
|
|
|
{
|
|
|
|
ksize2 = 1;
|
|
|
|
}
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
int minGrainSize = 2 * (ksize2 + 1);
|
|
|
|
if (grainSize < minGrainSize)
|
|
|
|
{
|
|
|
|
numOfThreads = std::max(1, src.rows / minGrainSize);
|
|
|
|
}
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
std::queue<uchar*> borderPeaksParallel;
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
parallel_for_(Range(0, src.rows), parallelCanny(src, map, low, high, aperture_size, L2gradient, &borderPeaksParallel), numOfThreads);
|
2015-01-08 01:54:20 +08:00
|
|
|
|
2016-08-05 22:20:56 +08:00
|
|
|
#define CANNY_PUSH_SERIAL(d) *(d) = uchar(2), borderPeaksParallel.push(d)
|
|
|
|
|
|
|
|
// now track the edges (hysteresis thresholding)
|
|
|
|
uchar* m;
|
|
|
|
while (!borderPeaksParallel.empty())
|
|
|
|
{
|
|
|
|
m = borderPeaksParallel.front();
|
|
|
|
borderPeaksParallel.pop();
|
2015-01-08 01:54:20 +08:00
|
|
|
if (!m[-1]) CANNY_PUSH_SERIAL(m - 1);
|
|
|
|
if (!m[1]) CANNY_PUSH_SERIAL(m + 1);
|
|
|
|
if (!m[-mapstep-1]) CANNY_PUSH_SERIAL(m - mapstep - 1);
|
|
|
|
if (!m[-mapstep]) CANNY_PUSH_SERIAL(m - mapstep);
|
|
|
|
if (!m[-mapstep+1]) CANNY_PUSH_SERIAL(m - mapstep + 1);
|
|
|
|
if (!m[mapstep-1]) CANNY_PUSH_SERIAL(m + mapstep - 1);
|
|
|
|
if (!m[mapstep]) CANNY_PUSH_SERIAL(m + mapstep);
|
|
|
|
if (!m[mapstep+1]) CANNY_PUSH_SERIAL(m + mapstep + 1);
|
|
|
|
}
|
|
|
|
|
2016-09-05 18:51:36 +08:00
|
|
|
parallel_for_(Range(0, dst.rows), finalPass(map, dst, mapstep), dst.total()/(double)(1<<16));
|
2016-07-11 21:08:09 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
void Canny( InputArray _dx, InputArray _dy, OutputArray _dst,
|
|
|
|
double low_thresh, double high_thresh,
|
|
|
|
bool L2gradient )
|
|
|
|
{
|
|
|
|
CV_Assert(_dx.dims() == 2);
|
|
|
|
CV_Assert(_dx.type() == CV_16SC1 || _dx.type() == CV_16SC3);
|
|
|
|
CV_Assert(_dy.type() == _dx.type());
|
|
|
|
CV_Assert(_dx.sameSize(_dy));
|
|
|
|
|
|
|
|
if (low_thresh > high_thresh)
|
|
|
|
std::swap(low_thresh, high_thresh);
|
|
|
|
|
|
|
|
const int cn = _dx.channels();
|
|
|
|
const Size size = _dx.size();
|
2016-07-11 21:34:21 +08:00
|
|
|
|
|
|
|
CV_OCL_RUN(_dst.isUMat(),
|
|
|
|
ocl_Canny<true>(UMat(), _dx.getUMat(), _dy.getUMat(), _dst, (float)low_thresh, (float)high_thresh, 0, L2gradient, cn, size))
|
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
_dst.create(size, CV_8U);
|
|
|
|
Mat dst = _dst.getMat();
|
|
|
|
|
|
|
|
Mat dx = _dx.getMat();
|
|
|
|
Mat dy = _dy.getMat();
|
2016-07-11 21:34:21 +08:00
|
|
|
|
|
|
|
CV_IPP_RUN(USE_IPP_CANNY && (!L2gradient && 1 == cn), ippCanny<true>(Mat(), dx, dy, dst, (float)low_thresh, (float)high_thresh))
|
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
if (cn > 1)
|
|
|
|
{
|
|
|
|
dx = dx.clone();
|
|
|
|
dy = dy.clone();
|
|
|
|
}
|
|
|
|
CannyImpl(dx, dy, dst, low_thresh, high_thresh, L2gradient);
|
|
|
|
}
|
|
|
|
|
|
|
|
static void CannyImpl(Mat& dx, Mat& dy, Mat& dst,
|
|
|
|
double low_thresh, double high_thresh, bool L2gradient)
|
|
|
|
{
|
|
|
|
const int cn = dx.channels();
|
|
|
|
const int cols = dx.cols, rows = dx.rows;
|
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
if (L2gradient)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
low_thresh = std::min(32767.0, low_thresh);
|
|
|
|
high_thresh = std::min(32767.0, high_thresh);
|
2012-10-17 07:18:30 +08:00
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
if (low_thresh > 0) low_thresh *= low_thresh;
|
|
|
|
if (high_thresh > 0) high_thresh *= high_thresh;
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
2012-02-21 19:16:49 +08:00
|
|
|
int low = cvFloor(low_thresh);
|
|
|
|
int high = cvFloor(high_thresh);
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
ptrdiff_t mapstep = cols + 2;
|
|
|
|
AutoBuffer<uchar> buffer((cols+2)*(rows+2) + cn * mapstep * 3 * sizeof(int));
|
2012-10-17 07:18:30 +08:00
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
int* mag_buf[3];
|
|
|
|
mag_buf[0] = (int*)(uchar*)buffer;
|
|
|
|
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));
|
|
|
|
|
|
|
|
uchar* map = (uchar*)(mag_buf[2] + mapstep*cn);
|
|
|
|
memset(map, 1, mapstep);
|
2016-07-11 21:08:09 +08:00
|
|
|
memset(map + mapstep*(rows + 1), 1, mapstep);
|
2012-02-21 19:16:49 +08:00
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
int maxsize = std::max(1 << 10, cols * rows / 10);
|
2012-02-21 19:16:49 +08:00
|
|
|
std::vector<uchar*> stack(maxsize);
|
|
|
|
uchar **stack_top = &stack[0];
|
|
|
|
uchar **stack_bottom = &stack[0];
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
/* sector numbers
|
2010-05-12 01:44:00 +08:00
|
|
|
(Top-Left Origin)
|
|
|
|
|
|
|
|
1 2 3
|
2012-02-21 19:16:49 +08:00
|
|
|
* * *
|
|
|
|
* * *
|
2010-05-12 01:44:00 +08:00
|
|
|
0*******0
|
2012-02-21 19:16:49 +08:00
|
|
|
* * *
|
|
|
|
* * *
|
2010-05-12 01:44:00 +08:00
|
|
|
3 2 1
|
|
|
|
*/
|
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
#define CANNY_PUSH(d) *(d) = uchar(2), *stack_top++ = (d)
|
2010-05-12 01:44:00 +08:00
|
|
|
#define CANNY_POP(d) (d) = *--stack_top
|
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
2016-10-29 12:24:31 +08:00
|
|
|
bool haveSIMD = hasSIMD128();
|
2014-06-29 22:32:15 +08:00
|
|
|
#endif
|
|
|
|
|
2014-03-03 23:37:47 +08:00
|
|
|
// calculate magnitude and angle of gradient, perform non-maxima suppression.
|
2010-05-12 01:44:00 +08:00
|
|
|
// fill the map with one of the following values:
|
|
|
|
// 0 - the pixel might belong to an edge
|
|
|
|
// 1 - the pixel can not belong to an edge
|
|
|
|
// 2 - the pixel does belong to an edge
|
2016-07-11 21:08:09 +08:00
|
|
|
for (int i = 0; i <= rows; i++)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
int* _norm = mag_buf[(i > 0) + 1] + 1;
|
2016-07-11 21:08:09 +08:00
|
|
|
if (i < rows)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
short* _dx = dx.ptr<short>(i);
|
|
|
|
short* _dy = dy.ptr<short>(i);
|
|
|
|
|
|
|
|
if (!L2gradient)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2016-07-11 21:08:09 +08:00
|
|
|
int j = 0, width = cols * cn;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if (haveSIMD)
|
2014-06-29 22:32:15 +08:00
|
|
|
{
|
|
|
|
for ( ; j <= width - 8; j += 8)
|
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int16x8 v_dx = v_load((const short*)(_dx + j));
|
|
|
|
v_int16x8 v_dy = v_load((const short*)(_dy + j));
|
|
|
|
|
|
|
|
v_int32x4 v_dx0, v_dx1, v_dy0, v_dy1;
|
|
|
|
v_expand(v_dx, v_dx0, v_dx1);
|
|
|
|
v_expand(v_dy, v_dy0, v_dy1);
|
2014-06-29 22:32:15 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_dx0 = v_reinterpret_as_s32(v_abs(v_dx0));
|
|
|
|
v_dx1 = v_reinterpret_as_s32(v_abs(v_dx1));
|
|
|
|
v_dy0 = v_reinterpret_as_s32(v_abs(v_dy0));
|
|
|
|
v_dy1 = v_reinterpret_as_s32(v_abs(v_dy1));
|
2014-06-29 22:32:15 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store(_norm + j, v_dx0 + v_dy0);
|
|
|
|
v_store(_norm + j + 4, v_dx1 + v_dy1);
|
2014-06-29 22:32:15 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
for ( ; j < width; ++j)
|
2012-02-21 19:16:49 +08:00
|
|
|
_norm[j] = std::abs(int(_dx[j])) + std::abs(int(_dy[j]));
|
2012-02-16 05:10:11 +08:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2016-07-11 21:08:09 +08:00
|
|
|
int j = 0, width = cols * cn;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if (haveSIMD)
|
2014-06-29 22:32:15 +08:00
|
|
|
{
|
|
|
|
for ( ; j <= width - 8; j += 8)
|
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int16x8 v_dx = v_load((const short*)(_dx + j));
|
|
|
|
v_int16x8 v_dy = v_load((const short*)(_dy + j));
|
|
|
|
|
|
|
|
v_int16x8 v_dx_dy0, v_dx_dy1;
|
|
|
|
v_zip(v_dx, v_dy, v_dx_dy0, v_dx_dy1);
|
|
|
|
|
|
|
|
v_int32x4 v_dst0 = v_dotprod(v_dx_dy0, v_dx_dy0);
|
|
|
|
v_int32x4 v_dst1 = v_dotprod(v_dx_dy1, v_dx_dy1);
|
|
|
|
|
|
|
|
v_store(_norm + j, v_dst0);
|
|
|
|
v_store(_norm + j + 4, v_dst1);
|
2014-06-29 22:32:15 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
for ( ; j < width; ++j)
|
2012-02-21 19:16:49 +08:00
|
|
|
_norm[j] = int(_dx[j])*_dx[j] + int(_dy[j])*_dy[j];
|
2012-02-16 05:10:11 +08:00
|
|
|
}
|
2012-10-17 07:18:30 +08:00
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
if (cn > 1)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2016-07-11 21:08:09 +08:00
|
|
|
for(int j = 0, jn = 0; j < cols; ++j, jn += cn)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
int maxIdx = jn;
|
|
|
|
for(int k = 1; k < cn; ++k)
|
|
|
|
if(_norm[jn + k] > _norm[maxIdx]) maxIdx = jn + k;
|
|
|
|
_norm[j] = _norm[maxIdx];
|
|
|
|
_dx[j] = _dx[maxIdx];
|
|
|
|
_dy[j] = _dy[maxIdx];
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
}
|
2016-07-11 21:08:09 +08:00
|
|
|
_norm[-1] = _norm[cols] = 0;
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
else
|
2012-02-21 19:16:49 +08:00
|
|
|
memset(_norm-1, 0, /* cn* */mapstep*sizeof(int));
|
2012-10-17 07:18:30 +08:00
|
|
|
|
2010-05-12 01:44:00 +08:00
|
|
|
// at the very beginning we do not have a complete ring
|
|
|
|
// buffer of 3 magnitude rows for non-maxima suppression
|
2012-02-21 19:16:49 +08:00
|
|
|
if (i == 0)
|
2010-05-12 01:44:00 +08:00
|
|
|
continue;
|
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
uchar* _map = map + mapstep*i + 1;
|
2016-07-11 21:08:09 +08:00
|
|
|
_map[-1] = _map[cols] = 1;
|
2012-02-21 19:16:49 +08:00
|
|
|
|
|
|
|
int* _mag = mag_buf[1] + 1; // take the central row
|
|
|
|
ptrdiff_t magstep1 = mag_buf[2] - mag_buf[1];
|
|
|
|
ptrdiff_t magstep2 = mag_buf[0] - mag_buf[1];
|
|
|
|
|
|
|
|
const short* _x = dx.ptr<short>(i-1);
|
|
|
|
const short* _y = dy.ptr<short>(i-1);
|
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
if ((stack_top - stack_bottom) + cols > maxsize)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
|
|
|
int sz = (int)(stack_top - stack_bottom);
|
2016-07-11 21:08:09 +08:00
|
|
|
maxsize = std::max(maxsize * 3/2, sz + cols);
|
2010-05-12 01:44:00 +08:00
|
|
|
stack.resize(maxsize);
|
|
|
|
stack_bottom = &stack[0];
|
|
|
|
stack_top = stack_bottom + sz;
|
|
|
|
}
|
|
|
|
|
2016-09-05 18:51:36 +08:00
|
|
|
#define CANNY_SHIFT 15
|
|
|
|
const int TG22 = (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5);
|
|
|
|
|
|
|
|
int prev_flag = 0, j = 0;
|
2016-09-30 23:22:24 +08:00
|
|
|
#if CV_SIMD128
|
|
|
|
if (haveSIMD)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_low = v_setall_s32(low);
|
|
|
|
v_int8x16 v_one = v_setall_s8(1);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
|
|
|
for (; j <= cols - 16; j += 16)
|
|
|
|
{
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_m1 = v_load((const int*)(_mag + j));
|
|
|
|
v_int32x4 v_m2 = v_load((const int*)(_mag + j + 4));
|
|
|
|
v_int32x4 v_m3 = v_load((const int*)(_mag + j + 8));
|
|
|
|
v_int32x4 v_m4 = v_load((const int*)(_mag + j + 12));
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_store((signed char*)(_map + j), v_one);
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int32x4 v_cmp1 = v_m1 > v_low;
|
|
|
|
v_int32x4 v_cmp2 = v_m2 > v_low;
|
|
|
|
v_int32x4 v_cmp3 = v_m3 > v_low;
|
|
|
|
v_int32x4 v_cmp4 = v_m4 > v_low;
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int16x8 v_cmp80 = v_pack(v_cmp1, v_cmp2);
|
|
|
|
v_int16x8 v_cmp81 = v_pack(v_cmp3, v_cmp4);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
2016-09-30 23:22:24 +08:00
|
|
|
v_int8x16 v_cmp = v_pack(v_cmp80, v_cmp81);
|
|
|
|
unsigned int mask = v_signmask(v_cmp);
|
2016-09-05 18:51:36 +08:00
|
|
|
|
|
|
|
if (mask)
|
|
|
|
{
|
|
|
|
int m, k = j;
|
|
|
|
|
|
|
|
for (; mask; ++k, mask >>= 1)
|
|
|
|
{
|
|
|
|
if (mask & 0x00000001)
|
|
|
|
{
|
|
|
|
m = _mag[k];
|
|
|
|
int xs = _x[k];
|
|
|
|
int ys = _y[k];
|
|
|
|
int x = std::abs(xs);
|
|
|
|
int y = std::abs(ys) << CANNY_SHIFT;
|
|
|
|
|
|
|
|
int tg22x = x * TG22;
|
|
|
|
|
|
|
|
if (y < tg22x)
|
|
|
|
{
|
|
|
|
if (m > _mag[k - 1] && m >= _mag[k + 1]) goto ocv_canny_push_sse;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
int tg67x = tg22x + (x << (CANNY_SHIFT + 1));
|
|
|
|
if (y > tg67x)
|
|
|
|
{
|
|
|
|
if (m > _mag[k + magstep2] && m >= _mag[k + magstep1]) goto ocv_canny_push_sse;
|
|
|
|
} else
|
|
|
|
{
|
|
|
|
int s = (xs ^ ys) < 0 ? -1 : 1;
|
|
|
|
if (m > _mag[k + magstep2 - s] && m > _mag[k + magstep1 + s]) goto ocv_canny_push_sse;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
prev_flag = 0;
|
|
|
|
continue;
|
|
|
|
|
|
|
|
ocv_canny_push_sse:
|
|
|
|
// _map[k-mapstep] is short-circuited at the start because previous thread is
|
|
|
|
// responsible for initializing it.
|
|
|
|
if (!prev_flag && m > high && _map[k-mapstep] != 2)
|
|
|
|
{
|
|
|
|
CANNY_PUSH(_map + k);
|
|
|
|
prev_flag = 1;
|
|
|
|
} else
|
|
|
|
_map[k] = 0;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
if (prev_flag && ((k < j+16) || (k < cols && _mag[k] <= high)))
|
|
|
|
prev_flag = 0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
for (; j < cols; j++)
|
|
|
|
{
|
2010-05-12 01:44:00 +08:00
|
|
|
int m = _mag[j];
|
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
if (m > low)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
int xs = _x[j];
|
|
|
|
int ys = _y[j];
|
|
|
|
int x = std::abs(xs);
|
|
|
|
int y = std::abs(ys) << CANNY_SHIFT;
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
int tg22x = x * TG22;
|
2010-05-12 01:44:00 +08:00
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
if (y < tg22x)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
if (m > _mag[j-1] && m >= _mag[j+1]) goto __ocv_canny_push;
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
2012-02-21 19:16:49 +08:00
|
|
|
else
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
int tg67x = tg22x + (x << (CANNY_SHIFT+1));
|
|
|
|
if (y > tg67x)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
if (m > _mag[j+magstep2] && m >= _mag[j+magstep1]) goto __ocv_canny_push;
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
2012-02-21 19:16:49 +08:00
|
|
|
else
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-21 19:16:49 +08:00
|
|
|
int s = (xs ^ ys) < 0 ? -1 : 1;
|
|
|
|
if (m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s]) goto __ocv_canny_push;
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
prev_flag = 0;
|
2012-02-21 19:16:49 +08:00
|
|
|
_map[j] = uchar(1);
|
|
|
|
continue;
|
|
|
|
__ocv_canny_push:
|
|
|
|
if (!prev_flag && m > high && _map[j-mapstep] != 2)
|
|
|
|
{
|
|
|
|
CANNY_PUSH(_map + j);
|
|
|
|
prev_flag = 1;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
_map[j] = 0;
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
|
2012-02-21 19:16:49 +08:00
|
|
|
// scroll the ring buffer
|
2010-05-12 01:44:00 +08:00
|
|
|
_mag = mag_buf[0];
|
|
|
|
mag_buf[0] = mag_buf[1];
|
|
|
|
mag_buf[1] = mag_buf[2];
|
|
|
|
mag_buf[2] = _mag;
|
|
|
|
}
|
|
|
|
|
|
|
|
// now track the edges (hysteresis thresholding)
|
2012-02-21 19:16:49 +08:00
|
|
|
while (stack_top > stack_bottom)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
|
|
|
uchar* m;
|
2012-02-21 19:16:49 +08:00
|
|
|
if ((stack_top - stack_bottom) + 8 > maxsize)
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
|
|
|
int sz = (int)(stack_top - stack_bottom);
|
2012-02-21 19:16:49 +08:00
|
|
|
maxsize = maxsize * 3/2;
|
2010-05-12 01:44:00 +08:00
|
|
|
stack.resize(maxsize);
|
|
|
|
stack_bottom = &stack[0];
|
|
|
|
stack_top = stack_bottom + sz;
|
|
|
|
}
|
|
|
|
|
|
|
|
CANNY_POP(m);
|
2012-02-21 19:16:49 +08:00
|
|
|
|
|
|
|
if (!m[-1]) CANNY_PUSH(m - 1);
|
|
|
|
if (!m[1]) CANNY_PUSH(m + 1);
|
|
|
|
if (!m[-mapstep-1]) CANNY_PUSH(m - mapstep - 1);
|
|
|
|
if (!m[-mapstep]) CANNY_PUSH(m - mapstep);
|
|
|
|
if (!m[-mapstep+1]) CANNY_PUSH(m - mapstep + 1);
|
|
|
|
if (!m[mapstep-1]) CANNY_PUSH(m + mapstep - 1);
|
|
|
|
if (!m[mapstep]) CANNY_PUSH(m + mapstep);
|
|
|
|
if (!m[mapstep+1]) CANNY_PUSH(m + mapstep + 1);
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
|
2016-09-05 18:51:36 +08:00
|
|
|
parallel_for_(Range(0, dst.rows), finalPass(map, dst, mapstep), dst.total()/(double)(1<<16));
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
|
2016-07-11 21:08:09 +08:00
|
|
|
} // namespace cv
|
|
|
|
|
2012-02-16 05:10:11 +08:00
|
|
|
void cvCanny( const CvArr* image, CvArr* edges, double threshold1,
|
|
|
|
double threshold2, int aperture_size )
|
2010-05-12 01:44:00 +08:00
|
|
|
{
|
2012-02-16 05:10:11 +08:00
|
|
|
cv::Mat src = cv::cvarrToMat(image), dst = cv::cvarrToMat(edges);
|
|
|
|
CV_Assert( src.size == dst.size && src.depth() == CV_8U && dst.type() == CV_8U );
|
2012-10-17 07:18:30 +08:00
|
|
|
|
2012-02-16 05:10:11 +08:00
|
|
|
cv::Canny(src, dst, threshold1, threshold2, aperture_size & 255,
|
|
|
|
(aperture_size & CV_CANNY_L2_GRADIENT) != 0);
|
2010-05-12 01:44:00 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
/* End of file. */
|