Canny edge detector: Difference between revisions
m (→{{header|C}}: add tabs to work around minor issues with variable font width with bold fonts) |
(Formatting and some types in the C entry) |
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* BMP info: |
* BMP info: |
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* http://en.wikipedia.org/wiki/BMP_file_format |
* http://en.wikipedia.org/wiki/BMP_file_format |
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* |
* |
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/* |
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* Note: the magic number has been removed from the bmpfile_header structure |
* Note: the magic number has been removed from the bmpfile_header structure |
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* since it causes alignment problems |
* since it causes alignment problems |
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* [this avoids compiler-specific alignment pragmas etc.] |
* [this avoids compiler-specific alignment pragmas etc.] |
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*/ |
*/ |
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struct bmpfile_magic { |
struct bmpfile_magic { |
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unsigned char magic[2]; |
unsigned char magic[2]; |
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}; |
}; |
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struct bmpfile_header { |
struct bmpfile_header { |
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uint32_t filesz; |
uint32_t filesz; |
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Line 72: | Line 70: | ||
pixel_t *load_bmp(char *filename, BITMAPINFOHEADER *bitmapInfoHeader) |
pixel_t *load_bmp(char *filename, BITMAPINFOHEADER *bitmapInfoHeader) |
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{ |
{ |
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FILE *filePtr; //our file pointer |
FILE *filePtr; // our file pointer |
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struct bmpfile_magic mag; |
struct bmpfile_magic mag; |
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struct bmpfile_header bitmapFileHeader; //our bitmap file header |
struct bmpfile_header bitmapFileHeader; // our bitmap file header |
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pixel_t *bitmapImage; //store image data |
pixel_t *bitmapImage; // store image data |
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size_t i; |
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unsigned char c; |
unsigned char c; |
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filePtr = fopen(filename,"r"); |
filePtr = fopen(filename,"r"); |
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if (filePtr == NULL) { |
if (filePtr == NULL) { |
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perror("fopen()"); |
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exit(1); |
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} |
} |
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fread(&mag, sizeof(struct bmpfile_magic),1,filePtr); |
fread(&mag, sizeof(struct bmpfile_magic), 1, filePtr); |
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//verify that this is a bmp file by check bitmap id |
// verify that this is a bmp file by check bitmap id |
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// warning: dereferencing type-punned pointer will break |
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⚫ | |||
// strict-aliasing rules [-Wstrict-aliasing] |
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⚫ | |||
⚫ | |||
⚫ | |||
⚫ | |||
⚫ | |||
⚫ | |||
⚫ | |||
} |
} |
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//read the bitmap file header |
// read the bitmap file header |
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fread(&bitmapFileHeader, sizeof(struct bmpfile_header), 1, filePtr); |
fread(&bitmapFileHeader, sizeof(struct bmpfile_header), 1, filePtr); |
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//read the bitmap info header |
// read the bitmap info header |
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fread(bitmapInfoHeader, sizeof(BITMAPINFOHEADER), 1, filePtr); |
fread(bitmapInfoHeader, sizeof(BITMAPINFOHEADER), 1, filePtr); |
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if( bitmapInfoHeader->compress_type != 0) |
if ( bitmapInfoHeader->compress_type != 0) |
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fprintf(stderr, "Warning, compression is not supported.\n"); |
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//move file point to the beginning of bitmap data |
// move file point to the beginning of bitmap data |
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fseek(filePtr, bitmapFileHeader.bmp_offset, SEEK_SET); |
fseek(filePtr, bitmapFileHeader.bmp_offset, SEEK_SET); |
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//allocate enough memory for the bitmap image data |
// allocate enough memory for the bitmap image data |
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bitmapImage = (pixel_t *)malloc(bitmapInfoHeader->bmp_bytesz* |
bitmapImage = (pixel_t *)malloc(bitmapInfoHeader->bmp_bytesz * sizeof(pixel_t)); |
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//verify memory allocation |
// verify memory allocation |
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if (!bitmapImage) { |
if (!bitmapImage) { |
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free(bitmapImage); |
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fclose(filePtr); |
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return NULL; |
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} |
} |
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//read in the bitmap image data |
// read in the bitmap image data |
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for(i=0; i<bitmapInfoHeader->bmp_bytesz; i++){ |
for (i = 0; i < bitmapInfoHeader->bmp_bytesz; i++) { |
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fread(&c, sizeof(unsigned char), 1, filePtr); |
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bitmapImage[i] = (int) c; |
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} |
} |
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// If we were using unsigned char as pixel_t, then: |
// If we were using unsigned char as pixel_t, then: |
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//fread(bitmapImage, 1, bitmapInfoHeader->bmp_bytesz, filePtr); |
// fread(bitmapImage, 1, bitmapInfoHeader->bmp_bytesz, filePtr); |
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//close file and return bitmap image data |
// close file and return bitmap image data |
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fclose(filePtr); |
fclose(filePtr); |
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return bitmapImage; |
return bitmapImage; |
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Line 133: | Line 133: | ||
{ |
{ |
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unsigned int offset = |
unsigned int offset = |
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sizeof(struct bmpfile_magic) |
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+ sizeof(struct bmpfile_header) |
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+ sizeof(BITMAPINFOHEADER) |
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+ (1 << bmp_ih->bitspp) * 4; |
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struct bmpfile_header bmp_fh = { |
struct bmpfile_header bmp_fh = { |
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.filesz = offset + bmp_ih->bmp_bytesz, |
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.creator1 = 0, |
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.creator2 = 0, |
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.bmp_offset = offset |
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}; |
}; |
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struct bmpfile_magic mag = {{0x42, 0x4d}}; |
struct bmpfile_magic mag = {{0x42, 0x4d}}; |
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rgb_t color = {0, 0, 0, 0}; |
rgb_t color = {0, 0, 0, 0}; |
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int i; |
int i; |
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size_t j; |
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FILE* fp = fopen(filename,"w"); |
FILE* fp = fopen(filename, "w"); |
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if (fp == NULL) |
if (fp == NULL) |
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return 1; |
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fwrite(&mag, 1, sizeof(struct bmpfile_magic), fp); |
fwrite(&mag, 1, sizeof(struct bmpfile_magic), fp); |
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Line 156: | Line 157: | ||
// Palette |
// Palette |
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for(i=0; i < (1<<bmp_ih->bitspp); i++) { |
for (i = 0; i < (1 << bmp_ih->bitspp); i++) { |
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color.r = i; |
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color.g = i; |
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color.b = i; |
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fwrite(&color, 1, sizeof(rgb_t), fp); |
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} |
} |
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// We use int instead of uchar, so we can't write img in 1 call any more. |
// We use int instead of uchar, so we can't write img in 1 call any more. |
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//fwrite(data, 1, bmp_ih->bmp_bytesz, fp); |
// fwrite(data, 1, bmp_ih->bmp_bytesz, fp); |
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for( |
for (j = 0; j < bmp_ih->bmp_bytesz; j++) { |
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unsigned char c = (unsigned char) data[j]; |
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fwrite(&c, sizeof(unsigned char), 1, fp); |
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} |
} |
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Line 179: | Line 180: | ||
{ |
{ |
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int i, j, m, n, c; |
int i, j, m, n, c; |
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int khalf = floor(kn/2.); |
int khalf = floor(kn / 2.0); |
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float pixel, min=DBL_MAX, max=DBL_MIN; |
float pixel, min = DBL_MAX, max = DBL_MIN; |
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if(norm) |
if (norm) |
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for (m = khalf; m < nx - khalf; m++) |
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for (n = khalf; n < ny - khalf; n++) { |
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pixel = 0; |
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c = 0; |
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for (j = -khalf; j <= khalf; j++) |
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for (i = -khalf; i <= khalf; i++) |
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pixel += in[(n - j) * nx + m - i] * kernel[c++]; |
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if (pixel < min) |
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min = pixel; |
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if (pixel > max) |
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max = pixel; |
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} |
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} |
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for(m=khalf; m<nx-khalf; m++) |
for (m = khalf; m < nx - khalf; m++) |
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for (n = khalf; n < ny - khalf; n++) { |
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pixel = 0; |
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c = 0; |
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for (j = -khalf; j <= khalf; j++) |
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for (i = -khalf; i <= khalf; i++) |
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pixel += in[(n - j) * nx + m - i] * kernel[c++]; |
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if (norm) |
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pixel = MAX_BRIGHTNESS * (pixel - min) / (max - min); |
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out[n * nx + m] = (pixel_t) pixel; |
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⚫ | |||
} |
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} |
} |
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// http://www.songho.ca/dsp/cannyedge/cannyedge.html |
// http:// www.songho.ca/dsp/cannyedge/cannyedge.html |
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// determine size of kernel (odd #) |
// determine size of kernel (odd #) |
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// 0.0 <= sigma < 0.5 : 3 |
// 0.0 <= sigma < 0.5 : 3 |
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// 2.0 <= sigma < 2.5 : 11 |
// 2.0 <= sigma < 2.5 : 11 |
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// 2.5 <= sigma < 3.0 : 13 ... |
// 2.5 <= sigma < 3.0 : 13 ... |
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//kernelSize = 2 * int(2*sigma) + 3; |
// kernelSize = 2 * int(2*sigma) + 3; |
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void gaussian_filter(pixel_t *in, pixel_t *out, int nx, int ny, float sigma) |
void gaussian_filter(pixel_t *in, pixel_t *out, int nx, int ny, float sigma) |
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{ |
{ |
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int i, j, c=0; |
int i, j, c = 0; |
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const int n = 2*(int)(2*sigma) + 3; |
const int n = 2 * (int)(2 * sigma) + 3; |
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float mean = floor(n/2.); |
float mean = floor(n / 2.0); |
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float kernel[n*n]; |
float kernel[n * n]; |
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fprintf(stderr, "gaussian_filter: kernel size %d, sigma=%g\n", n, sigma); |
fprintf(stderr, "gaussian_filter: kernel size %d, sigma=%g\n", n, sigma); |
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for(i=0; i<n; i++) |
for (i = 0; i < n; i++) |
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for (j = 0; j < n; j++) |
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kernel[c++] = exp(-0.5 * (pow((i - mean) / sigma, 2.0) + pow((j - mean) / sigma, 2.0))) |
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/ (2 * M_PI * sigma * sigma); |
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convolution(in, out, kernel, nx, ny, n, 1); |
convolution(in, out, kernel, nx, ny, n, 1); |
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} |
} |
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/* |
/* |
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* Links: |
* Links: |
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* http://en.wikipedia.org/wiki/Canny_edge_detector |
* http:// en.wikipedia.org/wiki/Canny_edge_detector |
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* http://www.tomgibara.com/computer-vision/CannyEdgeDetector.java |
* http:// www.tomgibara.com/computer-vision/CannyEdgeDetector.java |
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* http://fourier.eng.hmc.edu/e161/lectures/canny/node1.html |
* http:// fourier.eng.hmc.edu/e161/lectures/canny/node1.html |
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* http://www.songho.ca/dsp/cannyedge/cannyedge.html |
* http:// www.songho.ca/dsp/cannyedge/cannyedge.html |
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* |
* |
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* Note: T1 and T2 are lower and upper thresholds. |
* Note: T1 and T2 are lower and upper thresholds. |
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Line 247: | Line 248: | ||
{ |
{ |
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int i, j, c, Gmax; |
int i, j, c, Gmax; |
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float Gx[] = { |
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-1, 0, 1, |
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-2, 0, 2, |
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-1, 0, 1}; |
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float Gy[] = { |
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-1, 0, 1}; |
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1, 2, 1, |
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0, 0, 0, |
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⚫ | |||
0, 0, 0, |
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⚫ | |||
⚫ | |||
*after_Gx = calloc(nx * ny * sizeof(pixel_t), 1), |
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*after_Gy = calloc(nx * ny * sizeof(pixel_t), 1), |
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*nms = calloc(nx * ny * sizeof(pixel_t), 1); |
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⚫ | |||
pixel_t *edges; |
pixel_t *edges; |
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int nedges, k, t; |
int nedges, k, t; |
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Line 269: | Line 269: | ||
convolution(out, after_Gy, Gy, nx, ny, 3, 0); |
convolution(out, after_Gy, Gy, nx, ny, 3, 0); |
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for(i=1; i<nx-1; i++) |
for (i = 1; i < nx - 1; i++) |
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for (j = 1; j < ny - 1; j++) { |
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c = i + nx * j; |
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// G[c] = abs(after_Gx[c]) + abs(after_Gy[c]); |
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G[c] = hypot(after_Gx[c], after_Gy[c]); |
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if (G[c] > Gmax) |
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Gmax = G[c]; |
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} |
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} |
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// Non-maximum suppression, straightforward implementation. |
// Non-maximum suppression, straightforward implementation. |
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for(i=1; i<nx-1; i++) |
for (i = 1; i < nx - 1; i++) |
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for (j = 1; j < ny - 1; j++) { |
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float dir; |
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int nn, ss, ww, ee, nw, ne, sw, se; |
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c = i + nx * j; |
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nn = c - nx; |
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ss = c + nx; |
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ww = c + 1; |
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ee = c - 1; |
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nw = nn + 1; |
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ne = nn - 1; |
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sw = ss + 1; |
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se = ss - 1; |
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dir = fmod(atan2(after_Gy[c], after_Gx[c]) + M_PI, M_PI) / M_PI * 8; |
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if ( ((dir <= 1 || dir > 7) && G[c] > G[ee] && G[c] > G[ww]) // 0 deg |
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((dir > 1 && dir <= 3) && G[c] > G[nw] && G[c] > G[se]) // 45 deg |
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((dir > 3 && dir <= 5) && G[c] > G[nn] && G[c] > G[ss]) // 90 deg |
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((dir > 5 && dir <= 7) && G[c] > G[ne] && G[c] > G[sw]) // 135 deg |
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) |
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) |
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nms[c] = G[c]; |
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else |
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nms[c] = 0; |
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} |
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} |
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// Reuse array |
// Reuse array |
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edges = after_Gy; |
edges = after_Gy; // used as a stack |
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memset(out, 0, sizeof(pixel_t)*nx*ny); |
memset(out, 0, sizeof(pixel_t) * nx * ny); |
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memset(edges, 0, sizeof(pixel_t)*nx*ny); |
memset(edges, 0, sizeof(pixel_t) * nx * ny); |
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counter = 0; |
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// Tracing edges with hysteresis . Non-recursive implementation. |
// Tracing edges with hysteresis . Non-recursive implementation. |
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for(c=1, j=1; j<ny-1; j++) |
for (c = 1, j = 1; j < ny - 1; j++) |
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for (i = 1; i < nx-1; i++) { |
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if ( nms[c] >= tmax && out[c] == 0 ) { // trace edges |
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out[c] = MAX_BRIGHTNESS; |
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nedges = 1; |
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edges[0] = c; |
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do{ |
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do{ |
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nedges--; |
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t = edges[ nedges ]; |
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nbs[0] = t - nx; // nn |
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nbs[1] = t + nx; // ss |
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nbs[2] = t + 1; // ww |
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nbs[3] = t - 1; // ee |
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nbs[4] = nbs[0] + 1; // nw |
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nbs[5] = nbs[0] - 1; // ne |
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nbs[6] = nbs[1] + 1; // sw |
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nbs[7] = nbs[1] - 1; // se |
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} |
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} |
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} |
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⚫ | |||
⚫ | |||
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} |
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⚫ | |||
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} |
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free(after_Gx); |
free(after_Gx); |
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free(after_Gy); |
free(after_Gy); |
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pixel_t *bitmap_data, *temp_image; |
pixel_t *bitmap_data, *temp_image; |
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if(argc < 2){ |
if (argc < 2) { |
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printf("Usage: %s image.bmp\n", argv[0]); |
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exit(1); |
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} |
} |
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bitmap_data = load_bmp(argv[1], &ih); |
bitmap_data = load_bmp(argv[1], &ih); |
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temp_image = (pixel_t |
temp_image = (pixel_t*) malloc(ih.bmp_bytesz * sizeof(pixel_t)); |
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printf("Info: %d x %d x %d\n", ih.width, ih.height, ih.bitspp); |
printf("Info: %d x %d x %d\n", ih.width, ih.height, ih.bitspp); |
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Line 370: | Line 370: | ||
free(bitmap_data); |
free(bitmap_data); |
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free(temp_image); |
free(temp_image); |
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return 0; |
return 0; |
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}</lang> |
}</lang> |
Revision as of 17:28, 9 March 2012
Task: Write a program that performs so-called canny edge detection on an image. The algorithm consists of the following steps:
- Noise reduction. May be performed by Gaussian filter.
- Compute intensity gradient (matrices and ) and its magnitude .
May be performed by convolution of an image with Sobel operators. - Non-maximum suppression. For each pixel compute the orientation of intensity gradient vector: . Transform angle to one of four directions: 0, 45, 90, 135 degrees. Compute new array : if
where is the current pixel, and are the two neighbour pixels in the direction of gradient, then , otherwise . Nonzero pixels in resulting array correspond to local maxima of in direction . - Tracing edges with hysteresis. At this stage two thresholds for the values of are introduced: and . Starting from pixels with find all paths of pixels with and put them to the resulting image.
C
The following program reads an 8 bits per pixel grayscale BMP file and saves the result to `out.bmp'. Compile with `-lm'. <lang c>#include <stdint.h>
- include <stdio.h>
- include <stdlib.h>
- include <float.h>
- include <math.h>
- include <string.h>
- define MAX_BRIGHTNESS 255
/*
* Loading part taken from * http://www.vbforums.com/showthread.php?t=261522 * BMP info: * http://en.wikipedia.org/wiki/BMP_file_format * * Note: the magic number has been removed from the bmpfile_header structure * since it causes alignment problems * struct bmpfile_magic should be written/read first * followed by the * struct bmpfile_header * [this avoids compiler-specific alignment pragmas etc.] */
struct bmpfile_magic {
unsigned char magic[2];
};
struct bmpfile_header {
uint32_t filesz; uint16_t creator1; uint16_t creator2; uint32_t bmp_offset;
};
typedef struct {
uint32_t header_sz; int32_t width; int32_t height; uint16_t nplanes; uint16_t bitspp; uint32_t compress_type; uint32_t bmp_bytesz; int32_t hres; int32_t vres; uint32_t ncolors; uint32_t nimpcolors;
} BITMAPINFOHEADER;
typedef struct {
uint8_t r; uint8_t g; uint8_t b; uint8_t null;
} rgb_t;
BITMAPINFOHEADER ih;
// Use int instead `unsigned char' so that we can store negative values. typedef int pixel_t;
pixel_t *load_bmp(char *filename, BITMAPINFOHEADER *bitmapInfoHeader) {
FILE *filePtr; // our file pointer struct bmpfile_magic mag; struct bmpfile_header bitmapFileHeader; // our bitmap file header pixel_t *bitmapImage; // store image data size_t i; unsigned char c;
filePtr = fopen(filename,"r"); if (filePtr == NULL) { perror("fopen()"); exit(1); }
fread(&mag, sizeof(struct bmpfile_magic), 1, filePtr); // verify that this is a bmp file by check bitmap id // warning: dereferencing type-punned pointer will break // strict-aliasing rules [-Wstrict-aliasing] if (*((uint16_t*) mag.magic) != 0x4D42) { fprintf(stderr, "Not a BMP file: magic=%c%c\n", mag.magic[0], mag.magic[1]); fclose(filePtr); return NULL; }
// read the bitmap file header fread(&bitmapFileHeader, sizeof(struct bmpfile_header), 1, filePtr);
// read the bitmap info header fread(bitmapInfoHeader, sizeof(BITMAPINFOHEADER), 1, filePtr);
if ( bitmapInfoHeader->compress_type != 0) fprintf(stderr, "Warning, compression is not supported.\n");
// move file point to the beginning of bitmap data fseek(filePtr, bitmapFileHeader.bmp_offset, SEEK_SET);
// allocate enough memory for the bitmap image data bitmapImage = (pixel_t *)malloc(bitmapInfoHeader->bmp_bytesz * sizeof(pixel_t));
// verify memory allocation if (!bitmapImage) { free(bitmapImage); fclose(filePtr); return NULL; }
// read in the bitmap image data for (i = 0; i < bitmapInfoHeader->bmp_bytesz; i++) { fread(&c, sizeof(unsigned char), 1, filePtr); bitmapImage[i] = (int) c; }
// If we were using unsigned char as pixel_t, then: // fread(bitmapImage, 1, bitmapInfoHeader->bmp_bytesz, filePtr);
// close file and return bitmap image data fclose(filePtr); return bitmapImage;
}
// Return: nonzero on error. int save_bmp(char *filename, BITMAPINFOHEADER *bmp_ih, pixel_t *data) {
unsigned int offset = sizeof(struct bmpfile_magic) + sizeof(struct bmpfile_header) + sizeof(BITMAPINFOHEADER) + (1 << bmp_ih->bitspp) * 4; struct bmpfile_header bmp_fh = { .filesz = offset + bmp_ih->bmp_bytesz, .creator1 = 0, .creator2 = 0, .bmp_offset = offset }; struct bmpfile_magic mag = Template:0x42, 0x4d; rgb_t color = {0, 0, 0, 0}; int i; size_t j; FILE* fp = fopen(filename, "w");
if (fp == NULL) return 1;
fwrite(&mag, 1, sizeof(struct bmpfile_magic), fp); fwrite(&bmp_fh, 1, sizeof(struct bmpfile_header), fp); fwrite(bmp_ih, 1, sizeof(BITMAPINFOHEADER), fp);
// Palette for (i = 0; i < (1 << bmp_ih->bitspp); i++) { color.r = i; color.g = i; color.b = i; fwrite(&color, 1, sizeof(rgb_t), fp); }
// We use int instead of uchar, so we can't write img in 1 call any more. // fwrite(data, 1, bmp_ih->bmp_bytesz, fp); for (j = 0; j < bmp_ih->bmp_bytesz; j++) { unsigned char c = (unsigned char) data[j];
fwrite(&c, sizeof(unsigned char), 1, fp); }
fclose(fp); return 0;
}
// if norm==1, map pixels to range 0..MAX_BRIGHTNESS void convolution(pixel_t *in, pixel_t *out, float *kernel, int nx, int ny, int kn, int norm) {
int i, j, m, n, c; int khalf = floor(kn / 2.0); float pixel, min = DBL_MAX, max = DBL_MIN;
if (norm) for (m = khalf; m < nx - khalf; m++) for (n = khalf; n < ny - khalf; n++) { pixel = 0; c = 0; for (j = -khalf; j <= khalf; j++) for (i = -khalf; i <= khalf; i++) pixel += in[(n - j) * nx + m - i] * kernel[c++]; if (pixel < min) min = pixel; if (pixel > max) max = pixel; }
for (m = khalf; m < nx - khalf; m++) for (n = khalf; n < ny - khalf; n++) { pixel = 0; c = 0; for (j = -khalf; j <= khalf; j++) for (i = -khalf; i <= khalf; i++) pixel += in[(n - j) * nx + m - i] * kernel[c++];
if (norm) pixel = MAX_BRIGHTNESS * (pixel - min) / (max - min); out[n * nx + m] = (pixel_t) pixel; }
}
// http:// www.songho.ca/dsp/cannyedge/cannyedge.html // determine size of kernel (odd #) // 0.0 <= sigma < 0.5 : 3 // 0.5 <= sigma < 1.0 : 5 // 1.0 <= sigma < 1.5 : 7 // 1.5 <= sigma < 2.0 : 9 // 2.0 <= sigma < 2.5 : 11 // 2.5 <= sigma < 3.0 : 13 ... // kernelSize = 2 * int(2*sigma) + 3;
void gaussian_filter(pixel_t *in, pixel_t *out, int nx, int ny, float sigma) {
int i, j, c = 0; const int n = 2 * (int)(2 * sigma) + 3; float mean = floor(n / 2.0); float kernel[n * n];
fprintf(stderr, "gaussian_filter: kernel size %d, sigma=%g\n", n, sigma); for (i = 0; i < n; i++) for (j = 0; j < n; j++) kernel[c++] = exp(-0.5 * (pow((i - mean) / sigma, 2.0) + pow((j - mean) / sigma, 2.0))) / (2 * M_PI * sigma * sigma); convolution(in, out, kernel, nx, ny, n, 1);
}
/*
* Links: * http:// en.wikipedia.org/wiki/Canny_edge_detector * http:// www.tomgibara.com/computer-vision/CannyEdgeDetector.java * http:// fourier.eng.hmc.edu/e161/lectures/canny/node1.html * http:// www.songho.ca/dsp/cannyedge/cannyedge.html * * Note: T1 and T2 are lower and upper thresholds. */
void canny_edge_detection(pixel_t *in, pixel_t *out, int nx, int ny, int tmin, int tmax, float sigma) {
int i, j, c, Gmax; float Gx[] = { -1, 0, 1, -2, 0, 2, -1, 0, 1}; float Gy[] = { 1, 2, 1, 0, 0, 0, -1,-2,-1}; pixel_t *G = calloc(nx * ny * sizeof(pixel_t), 1), *after_Gx = calloc(nx * ny * sizeof(pixel_t), 1), *after_Gy = calloc(nx * ny * sizeof(pixel_t), 1), *nms = calloc(nx * ny * sizeof(pixel_t), 1); pixel_t *edges; int nedges, k, t; int nbs[8]; // neighbours
gaussian_filter(in, out, nx, ny, sigma);
convolution(out, after_Gx, Gx, nx, ny, 3, 0); convolution(out, after_Gy, Gy, nx, ny, 3, 0);
for (i = 1; i < nx - 1; i++) for (j = 1; j < ny - 1; j++) { c = i + nx * j; // G[c] = abs(after_Gx[c]) + abs(after_Gy[c]); G[c] = hypot(after_Gx[c], after_Gy[c]); if (G[c] > Gmax) Gmax = G[c]; }
// Non-maximum suppression, straightforward implementation. for (i = 1; i < nx - 1; i++) for (j = 1; j < ny - 1; j++) { float dir; int nn, ss, ww, ee, nw, ne, sw, se;
c = i + nx * j; nn = c - nx; ss = c + nx; ww = c + 1; ee = c - 1; nw = nn + 1; ne = nn - 1; sw = ss + 1; se = ss - 1;
dir = fmod(atan2(after_Gy[c], after_Gx[c]) + M_PI, M_PI) / M_PI * 8;
if ( ((dir <= 1 || dir > 7) && G[c] > G[ee] && G[c] > G[ww]) // 0 deg || ((dir > 1 && dir <= 3) && G[c] > G[nw] && G[c] > G[se]) // 45 deg || ((dir > 3 && dir <= 5) && G[c] > G[nn] && G[c] > G[ss]) // 90 deg || ((dir > 5 && dir <= 7) && G[c] > G[ne] && G[c] > G[sw]) // 135 deg ) nms[c] = G[c]; else nms[c] = 0; }
// Reuse array edges = after_Gy; // used as a stack memset(out, 0, sizeof(pixel_t) * nx * ny); memset(edges, 0, sizeof(pixel_t) * nx * ny);
// Tracing edges with hysteresis . Non-recursive implementation. for (c = 1, j = 1; j < ny - 1; j++) for (i = 1; i < nx-1; i++) { if ( nms[c] >= tmax && out[c] == 0 ) { // trace edges out[c] = MAX_BRIGHTNESS; nedges = 1; edges[0] = c;
do{ nedges--; t = edges[ nedges ];
nbs[0] = t - nx; // nn nbs[1] = t + nx; // ss nbs[2] = t + 1; // ww nbs[3] = t - 1; // ee nbs[4] = nbs[0] + 1; // nw nbs[5] = nbs[0] - 1; // ne nbs[6] = nbs[1] + 1; // sw nbs[7] = nbs[1] - 1; // se
for (k = 0; k < 8; k++) if (nms[nbs[k]] >= tmin && out[ nbs[k] ] == 0) { out[nbs[k]] = MAX_BRIGHTNESS; edges[nedges++] = nbs[k]; } } while(nedges > 0); } c++; }
free(after_Gx); free(after_Gy); free(G); free(nms);
}
int main(int argc, char **argv) {
pixel_t *bitmap_data, *temp_image;
if (argc < 2) { printf("Usage: %s image.bmp\n", argv[0]); exit(1); }
bitmap_data = load_bmp(argv[1], &ih); temp_image = (pixel_t*) malloc(ih.bmp_bytesz * sizeof(pixel_t));
printf("Info: %d x %d x %d\n", ih.width, ih.height, ih.bitspp);
canny_edge_detection(bitmap_data, temp_image, ih.width, ih.height, 45, 50, 1);
save_bmp("out.bmp", &ih, temp_image); free(bitmap_data); free(temp_image);
return 0;
}</lang>