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LSD: Avoid using pointers directly, image could be non continuous

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Francisco Facioni 2016-09-18 22:48:23 +01:00 committed by Francisco Facioni
parent f5a0b226f2
commit a12207c3ad
1 changed files with 35 additions and 41 deletions
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76
modules/imgproc/src/lsd.cpp
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@ -231,11 +231,8 @@ public:
private:
Mat image;
Mat scaled_image;
uchar *scaled_image_data;
Mat_<double> angles; // in rads
double *angles_data;
Mat_<double> modgrad;
double *modgrad_data;
Mat_<uchar> used;
int img_width;
@ -383,7 +380,7 @@ private:
* Is the point at place 'address' aligned to angle theta, up to precision 'prec'?
* @return Whether the point is aligned.
*/
bool isAligned(const int& address, const double& theta, const double& prec) const;
bool isAligned(int x, int y, const double& theta, const double& prec) const;
};
/////////////////////////////////////////////////////////////////////////////////////////
@ -473,8 +470,8 @@ void LineSegmentDetectorImpl::flsd(std::vector<Vec4f>& lines,
// Search for line segments
for(size_t i = 0, list_size = list.size(); i < list_size; ++i)
{
unsigned int adx = list[i].p.x + list[i].p.y * img_width;
if((used.ptr()[adx] == NOTUSED) && (angles_data[adx] != NOTDEF))
const Point2i& point = list[i].p;
if((used.at<uchar>(point) == NOTUSED) && (angles.at<double>(point) != NOTDEF))
{
int reg_size;
double reg_angle;
@ -531,10 +528,6 @@ void LineSegmentDetectorImpl::ll_angle(const double& threshold,
angles = Mat_<double>(scaled_image.size());
modgrad = Mat_<double>(scaled_image.size());
angles_data = angles.ptr<double>(0);
modgrad_data = modgrad.ptr<double>(0);
scaled_image_data = scaled_image.ptr<uchar>(0);
img_width = scaled_image.cols;
img_height = scaled_image.rows;
@ -543,30 +536,30 @@ void LineSegmentDetectorImpl::ll_angle(const double& threshold,
angles.col(img_width - 1).setTo(NOTDEF);
// Computing gradient for remaining pixels
CV_Assert(scaled_image.isContinuous() &&
modgrad.isContinuous() &&
angles.isContinuous()); // Accessing image data linearly
double max_grad = -1;
for(int y = 0; y < img_height - 1; ++y)
{
for(int addr = y * img_width, addr_end = addr + img_width - 1; addr < addr_end; ++addr)
const uchar* scaled_image_row = scaled_image.ptr<uchar>(y);
const uchar* next_scaled_image_row = scaled_image.ptr<uchar>(y+1);
double* angles_row = angles.ptr<double>(y);
double* modgrad_row = modgrad.ptr<double>(y);
for(int x = 0; x < img_width-1; ++x)
{
int DA = scaled_image_data[addr + img_width + 1] - scaled_image_data[addr];
int BC = scaled_image_data[addr + 1] - scaled_image_data[addr + img_width];
int DA = next_scaled_image_row[x + 1] - scaled_image_row[x];
int BC = scaled_image_row[x + 1] - next_scaled_image_row[x];
int gx = DA + BC; // gradient x component
int gy = DA - BC; // gradient y component
double norm = std::sqrt((gx * gx + gy * gy) / 4.0); // gradient norm
modgrad_data[addr] = norm; // store gradient
modgrad_row[x] = norm; // store gradient
if (norm <= threshold) // norm too small, gradient no defined
{
angles_data[addr] = NOTDEF;
angles_row[x] = NOTDEF;
}
else
{
angles_data[addr] = fastAtan2(float(gx), float(-gy)) * DEG_TO_RADS; // gradient angle computation
angles_row[x] = fastAtan2(float(gx), float(-gy)) * DEG_TO_RADS; // gradient angle computation
if (norm > max_grad) { max_grad = norm; }
}
@ -582,11 +575,11 @@ void LineSegmentDetectorImpl::ll_angle(const double& threshold,
for(int y = 0; y < img_height - 1; ++y)
{
const double* norm = modgrad_data + y * img_width;
for(int x = 0; x < img_width - 1; ++x, ++norm)
const double* modgrad_row = modgrad.ptr<double>(y);
for(int x = 0; x < img_width - 1; ++x)
{
// Store the point in the right bin according to its norm
int i = int((*norm) * bin_coef);
int i = int(modgrad_row[x] * bin_coef);
if(!range_e[i])
{
range_e[i] = range_s[i] = &list[count];
@ -629,11 +622,10 @@ void LineSegmentDetectorImpl::region_grow(const Point2i& s, std::vector<RegionPo
reg_size = 1;
reg[0].x = s.x;
reg[0].y = s.y;
int addr = s.x + s.y * img_width;
reg[0].used = used.ptr() + addr;
reg_angle = angles_data[addr];
reg[0].used = &used.at<uchar>(s);
reg_angle = angles.at<double>(s);
reg[0].angle = reg_angle;
reg[0].modgrad = modgrad_data[addr];
reg[0].modgrad = modgrad.at<double>(s);
float sumdx = float(std::cos(reg_angle));
float sumdy = float(std::sin(reg_angle));
@ -647,20 +639,23 @@ void LineSegmentDetectorImpl::region_grow(const Point2i& s, std::vector<RegionPo
int yy_min = std::max(rpoint.y - 1, 0), yy_max = std::min(rpoint.y + 1, img_height - 1);
for(int yy = yy_min; yy <= yy_max; ++yy)
{
int c_addr = xx_min + yy * img_width;
for(int xx = xx_min; xx <= xx_max; ++xx, ++c_addr)
uchar* used_row = used.ptr<uchar>(yy);
const double* angles_row = angles.ptr<double>(yy);
const double* modgrad_row = modgrad.ptr<double>(yy);
for(int xx = xx_min; xx <= xx_max; ++xx)
{
if((used.ptr()[c_addr] != USED) &&
(isAligned(c_addr, reg_angle, prec)))
uchar& is_used = used_row[xx];
if(is_used != USED &&
(isAligned(xx, yy, reg_angle, prec)))
{
const double& angle = angles_row[xx];
// Add point
used.ptr()[c_addr] = USED;
is_used = USED;
RegionPoint& region_point = reg[reg_size];
region_point.x = xx;
region_point.y = yy;
region_point.used = &(used.ptr()[c_addr]);
region_point.modgrad = modgrad_data[c_addr];
const double& angle = angles_data[c_addr];
region_point.used = &is_used;
region_point.modgrad = modgrad_row[xx];
region_point.angle = angle;
++reg_size;
@ -1063,13 +1058,12 @@ double LineSegmentDetectorImpl::rect_nfa(const rect& rec) const
{
if (y < 0 || y >= img_height) continue;
int adx = y * img_width + int(left_x);
for(int x = int(left_x); x <= int(right_x); ++x, ++adx)
for(int x = int(left_x); x <= int(right_x); ++x)
{
if (x < 0 || x >= img_width) continue;
++total_pts;
if(isAligned(adx, rec.theta, rec.prec))
if(isAligned(x, y, rec.theta, rec.prec))
{
++alg_pts;
}
@ -1123,10 +1117,10 @@ double LineSegmentDetectorImpl::nfa(const int& n, const int& k, const double& p)
return -log10(bin_tail) - LOG_NT;
}
inline bool LineSegmentDetectorImpl::isAligned(const int& address, const double& theta, const double& prec) const
inline bool LineSegmentDetectorImpl::isAligned(int x, int y, const double& theta, const double& prec) const
{
if(address < 0) { return false; }
const double& a = angles_data[address];
if(x < 0 || y < 0 || x >= angles.cols || y >= angles.rows) { return false; }
const double& a = angles.at<double>(y, x);
if(a == NOTDEF) { return false; }
// It is assumed that 'theta' and 'a' are in the range [-pi,pi]