opencv 2.4.x canny 非加速部分源码阅读笔记

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#include "precomp.hpp"

/*
#if defined (HAVE_IPP) && (IPP_VERSION_MAJOR >= 7)
#define USE_IPP_CANNY 1
#else
#undef USE_IPP_CANNY
#endif
*/
#ifdef USE_IPP_CANNY
namespace cv
{
static bool ippCanny(const Mat& _src, Mat& _dst, float low,  float high)
{
    int size = 0, size1 = 0;
    IppiSize roi = { _src.cols, _src.rows };

    ippiFilterSobelNegVertGetBufferSize_8u16s_C1R(roi, ippMskSize3x3, &size);
    ippiFilterSobelHorizGetBufferSize_8u16s_C1R(roi, ippMskSize3x3, &size1);
    size = std::max(size, size1);
    ippiCannyGetSize(roi, &size1);
    size = std::max(size, size1);

    AutoBuffer<uchar> buf(size + 64);
    uchar* buffer = alignPtr((uchar*)buf, 32);

    Mat _dx(_src.rows, _src.cols, CV_16S);
    if( ippiFilterSobelNegVertBorder_8u16s_C1R(_src.data, (int)_src.step,
                    _dx.ptr<short>(), (int)_dx.step, roi,
                    ippMskSize3x3, ippBorderRepl, 0, buffer) < 0 )
        return false;

    Mat _dy(_src.rows, _src.cols, CV_16S);
    if( ippiFilterSobelHorizBorder_8u16s_C1R(_src.data, (int)_src.step,
                    _dy.ptr<short>(), (int)_dy.step, roi,
                    ippMskSize3x3, ippBorderRepl, 0, buffer) < 0 )
        return false;

    if( ippiCanny_16s8u_C1R(_dx.ptr<short>(), (int)_dx.step,
                            _dy.ptr<short>(), (int)_dy.step,
                            _dst.data, (int)_dst.step, roi, low, high, buffer) < 0 )
        return false;
    return true;
}
}
#endif

void cv::Canny( InputArray _src, OutputArray _dst,
                double low_thresh, double high_thresh,
                int aperture_size, bool L2gradient )
{
    Mat src = _src.getMat();
    CV_Assert( src.depth() == CV_8U );

    _dst.create(src.size(), CV_8U);
    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, "");

    if (low_thresh > high_thresh)
        std::swap(low_thresh, high_thresh);

#ifdef HAVE_TEGRA_OPTIMIZATION
    if (tegra::canny(src, dst, low_thresh, high_thresh, aperture_size, L2gradient))
        return;
#endif

#ifdef USE_IPP_CANNY
    if( aperture_size == 3 && !L2gradient &&
        ippCanny(src, dst, (float)low_thresh, (float)high_thresh) )
        return;
#endif

    const int cn = src.channels();
    Mat dx(src.rows, src.cols, CV_16SC(cn));
    Mat dy(src.rows, src.cols, CV_16SC(cn));
//sobel 计算x,y方向梯度
    Sobel(src, dx, CV_16S, 1, 0, aperture_size, 1, 0, cv::BORDER_REPLICATE);
    Sobel(src, dy, CV_16S, 0, 1, aperture_size, 1, 0, cv::BORDER_REPLICATE);
//如果是L2gradient,使用x,y方向梯度平方和计算强度,否则使用x,y方向梯度的绝对值的和计算强度
    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);

    ptrdiff_t mapstep = src.cols + 2;
//强度和边缘的buffer,+2的作用,每行的边缘像素非极大值抑制时左右强度值可用,八领域连通判断是否为弱边缘点可用
    AutoBuffer<uchar> buffer((src.cols+2)*(src.rows+2) + 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;
    memset(mag_buf[0], 0, /* cn* */mapstep*sizeof(int));

    uchar* map = (uchar*)(mag_buf[2] + mapstep*cn);
    memset(map, 1, mapstep);
    memset(map + mapstep*(src.rows + 1), 1, mapstep);
//保存像素点为边缘的stack
    int maxsize = std::max(1 << 10, src.cols * src.rows / 10);
    std::vector<uchar*> stack(maxsize);
    uchar **stack_top = &stack[0];
    uchar **stack_bottom = &stack[0];

    /* sector numbers
       (Top-Left Origin)

        1   2   3
         *  *  *
          * * *
        0*******0
          * * *
         *  *  *
        3   2   1
    */

    #define CANNY_PUSH(d)    *(d) = uchar(2), *stack_top++ = (d)
    #define CANNY_POP(d)     (d) = *--stack_top

    // 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 = 0; i <= src.rows; i++)
    {
//计算每行的强度
        int* _norm = mag_buf[(i > 0) + 1] + 1;
        if (i < src.rows)
        {
            short* _dx = dx.ptr<short>(i);
            short* _dy = dy.ptr<short>(i);

            if (!L2gradient)
            {
                for (int j = 0; j < src.cols*cn; j++)
                    _norm[j] = std::abs(int(_dx[j])) + std::abs(int(_dy[j]));
            }
            else
            {
                for (int j = 0; j < src.cols*cn; 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;
        }
        else
            memset(_norm-1, 0, /* cn* */mapstep*sizeof(int));

        // at the very beginning we do not have a complete ring
        // buffer of 3 magnitude rows for non-maxima suppression
        if (i == 0)
            continue;

        uchar* _map = map + mapstep*i + 1;
        _map[-1] = _map[src.cols] = 1;

        int* _mag = mag_buf[1] + 1; // take the central row
//计算下一行对当前行的内存偏移值
        ptrdiff_t magstep1 = mag_buf[2] - mag_buf[1];
//计算上一行对当前行的内存偏移值
        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);

        if ((stack_top - stack_bottom) + src.cols > maxsize)
        {
            int sz = (int)(stack_top - stack_bottom);
            maxsize = std::max(sz + src.cols, maxsize * 3/2);
            stack.resize(maxsize);
            stack_bottom = &stack[0];
            stack_top = stack_bottom + sz;
        }

        int prev_flag = 0;
        for (int j = 0; j < src.cols; j++)
        {
            #define CANNY_SHIFT 15
//tan 22.5度的值=0.4142135623730950488016887242097
            const int TG22 = (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5);

            int m = _mag[j];
//大于低阈值的非极大值抑制边缘点筛选
            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;
//梯度方向水平，左右非极大值抑制
                if (y < tg22x)
                {
                    if (m > _mag[j-1] && m >= _mag[j+1]) goto __ocv_canny_push;
                }
                else
                {
//tan 67.5*x=tg22x +(tan45=1)*x
                    int tg67x = tg22x + (x << (CANNY_SHIFT+1));
//梯度方向垂直，上下非极大值抑制
                    if (y > tg67x)
                    {
                        if (m > _mag[j+magstep2] && m >= _mag[j+magstep1]) goto __ocv_canny_push;
                    }
                    else
                    {
//对角线非极大值抑制,异或计算，xs,ys同正同负时异或结果>=0,_mag[j+magstep2-s]:左上，_mag[j+magstep1+s]:右下,反之右上，左下
                        int s = (xs ^ ys) < 0 ? -1 : 1;
                        if (m > _mag[j+magstep2-s] && m > _mag[j+magstep1+s]) goto __ocv_canny_push;
                    }
                }
            }
//标记为非边缘点
            prev_flag = 0;
            _map[j] = uchar(1);
            continue;

__ocv_canny_push:
//标记为边缘点(强)
            if (!prev_flag && m > high && _map[j-mapstep] != 2)
            {
                CANNY_PUSH(_map + j);
                prev_flag = 1;
            }
            else
//候选边缘点
                _map[j] = 0;
        }

        // scroll the ring buffer
// mag_buf[0]:上一行
//mag_buf[1]:当前行
//mag_buf[2]:下一行
        _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)
    {
        uchar* m;
        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;
        }
//8领域连通性挑选候选边缘点中的弱边缘点
        CANNY_POP(m);

        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);
    }

    // the final pass, form the final image
    const uchar* pmap = map + mapstep + 1;
    uchar* pdst = dst.ptr();
//从buffer中获取最终的边缘图
    for (int i = 0; i < src.rows; i++, pmap += mapstep, pdst += dst.step)
    {
        for (int j = 0; j < src.cols; j++)
//pmap[j]=2，pmap[j] >> 1=1,(uchar)-(pmap[j] >> 1)=(uchar)(-1)=255
            pdst[j] = (uchar)-(pmap[j] >> 1);
    }
}

void cvCanny( const CvArr* image, CvArr* edges, double threshold1,
              double threshold2, int aperture_size )
{
    cv::Mat src = cv::cvarrToMat(image), dst = cv::cvarrToMat(edges);
    CV_Assert( src.size == dst.size && src.depth() == CV_8U && dst.type() == CV_8U );

    cv::Canny(src, dst, threshold1, threshold2, aperture_size & 255,
              (aperture_size & CV_CANNY_L2_GRADIENT) != 0);
}

/* End of file. */