Basic Image AlgorithmS Library  2.8.0
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BIAS::CannyEdge< InputStorageType, OutputStorageType > Class Template Reference
Image Filters and Image Transformations

Canny edge detector. More...

#include <Filter/CannyEdge.hh>

+ Inheritance diagram for BIAS::CannyEdge< InputStorageType, OutputStorageType >:
+ Collaboration diagram for BIAS::CannyEdge< InputStorageType, OutputStorageType >:

Public Types

enum  TBorderHandling { TBH_full, TBH_same, TBH_valid }
 enum for border calculation, same meanings as in matlab: More...
 

Public Member Functions

void AddDebugLevel (const long int lv)
 
void AddDebugLevel (const std::string &name)
 
 CannyEdge ()
 Constructor, setting default values. More...
 
virtual CannyEdge
< InputStorageType,
OutputStorageType > * 		Clone () const
 get copy of this filter More...
 
void CopyNonROIFromSource (const Image< InputStorageType > &src, Image< OutputStorageType > &dst) const
 run over all pixel which do not belong to the roi and set them to the value in the source image regardless of the roi of the source. More...
 
bool DebugLevelIsSet (const long int lv) const
 
bool DebugLevelIsSet (const std::string &name) const
 
virtual int Filter (const Image< InputStorageType > &src, Image< OutputStorageType > &gx, Image< OutputStorageType > &gy, Image< OutputStorageType > &magnitude, Image< OutputStorageType > &gdir, Image< OutputStorageType > &dst)
 call for getting all intermediary results More...
 
virtual int Filter (const Image< InputStorageType > &src, Image< OutputStorageType > &dst)
 call for only getting the (binary) edge image More...
 
int GetBorderHandling () const
 
void GetBorders (int &border_x, int &border_y) const
 
virtual void GetBordersValid_ (int &border_x, int &border_y) const
 not implemented More...
 
int GetDebugLevel () const
 
std::ostream & GetDebugStream () const
 
void GetDebugStream (std::ostream &os) const
 
long int Name2DebugLevel (const std::string &name) const
 looks up a debuglevel in the internal map, returns 0 if not found More...
 
long int NewDebugLevel (const std::string &name)
 creates a new debuglevel More...
 
void PrintDebugLevel (std::ostream &os=std::cout) const
 
void RemoveDebugLevel (const long int lv)
 
void RemoveDebugLevel (const std::string &name)
 
void SetBorderHandling (const int bh)
 
void SetDebugLevel (const long int lv)
 
void SetDebugLevel (const std::string &name)
 
void SetDebugStream (const std::ostream &os)
 
int SetEdgeWidth (unsigned int edgeWidth)
 set edge width for hysteresis. More...
 
int SetGaussSigma (float sigma)
 before edge detection, the input image is blurred with a gaussian. Set sigma here (defaults to 1.4) More...
 
void SetNonROIToValue (Image< OutputStorageType > &dst, const std::vector< OutputStorageType > &t) const
 run over all pixel which do not belong to the roi and set them to some value (typically black) More...
 
int SetThresholdsAbsolute (OutputStorageType lowAbs_, OutputStorageType highAbs_)
 set absolute value of low and high thresholds for hysteresis in magnitude gradient image More...
 
int SetThresholdsRelative (unsigned int low_, unsigned int high_)
 set value of low and high thresholds for hysteresis in magnitude gradient image in terms of percent of image pixels More...
 
void ShowDebugLevel (std::ostream &os=std::cout) const
 prints all internally known debuglevels More...
 
virtual ~CannyEdge ()
 

Static Public Member Functions

static long int GetGlobalDebugLevel ()
 
static void SetGlobalDebugLevel (long int lev)
 

Protected Member Functions

int CalculateGradients_ (const Image< OutputStorageType > &src, Image< OutputStorageType > &gx, Image< OutputStorageType > &gy, Image< OutputStorageType > &magnitude, Image< OutputStorageType > &gdir, Image< OutputStorageType > &dst)
 
long ConsumeNextFreeDebuglevel_ ()
 returns the next available debuglevel More...
 
int DetermineThresholds_ (const Image< OutputStorageType > &src, OutputStorageType &low, OutputStorageType &high)
 
int SmoothImage_ (const Image< InputStorageType > &src, Image< OutputStorageType > &smoothed)
 

Protected Attributes

int _FilterBorderHandling
 
long int _liDebugLevel
 
long int _liNextDebugLevel
 new concept, debuglevel are managed here in the debug class More...
 
std::map< std::string, long int > _String2Debuglevel
 
Convolution< OutputStorageType,
OutputStorageType > 		ConvX_
 
Convolution< OutputStorageType,
OutputStorageType > 		ConvY_
 

Static Protected Attributes

static std::ostream _zDebugStream
 
static long int GlobalDebugLevel = 0
 

Detailed Description

template<class InputStorageType, class OutputStorageType>
class BIAS::CannyEdge< InputStorageType, OutputStorageType >

Canny edge detector.

uses gradient calculation on upsampled images
Low and High thresholds for hysteresis can either be set manually or be determined by histogram segmentation.
For the latter, use SetThresholdsRelative(low, high) to set the number of pixels in percent in the magnitude image to not
be evaluated by hysteresis. Per default, the lowest 60 percent of all pixels define the lower threshold and the upper 10 percent
of all pixels define the higher threshold.
Implementation follows the online tutorial of http://www.pages.drexel.edu/~weg22/can_tut.html closely.

Only tested for InputStorageType unsigned char, OutputStorageType float!

Author
fkellner 11/2008
Examples:
ExampleCannyEdge.cpp.

Definition at line 48 of file CannyEdge.hh.

Member Enumeration Documentation

template<class InputStorageType, class OutputStorageType>
enum BIAS::FilterBase::TBorderHandling
inherited

enum for border calculation, same meanings as in matlab:

  • TBH_valid: returns only the pixels whose values can be computed without using zero padding of the input image. The resulting output image is smaller than the input image. The ROI of the output image is set accordingly.
  • TBH_same: returns the set of pixels that can be computed by applying the filter to all pixels that are actually part of the input image. Border pixels are computed using zero padding, but the center pixel of the computational kernel is applied only to pixels in the image. This results in an output image that is the same size as the input image.
  • TBH_full: returns the full convolution. This means conv2 returns all pixels for which any of the pixels in the computational molecule overlap pixels in the image, even when the center pixel is outside the input image. The resulting output image is larger than the input image. This is not implemented at the moment.
Enumerator
TBH_full 
TBH_same 
TBH_valid 

Definition at line 98 of file FilterBase.hh.

Constructor & Destructor Documentation

template<class InputStorageType , class OutputStorageType >
BIAS::CannyEdge< InputStorageType, OutputStorageType >::CannyEdge ( )

Constructor, setting default values.

Definition at line 31 of file CannyEdge.cpp.

template<class InputStorageType , class OutputStorageType >
BIAS::CannyEdge< InputStorageType, OutputStorageType >::~CannyEdge ( )
virtual

Definition at line 54 of file CannyEdge.cpp.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int  lv)
inlineinherited
Examples:
EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 362 of file Debug.hh.

template<class InputStorageType , class OutputStorageType>
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::CalculateGradients_ ( const Image< OutputStorageType > &  src,
Image< OutputStorageType > &  gx,
Image< OutputStorageType > &  gy,
Image< OutputStorageType > &  magnitude,
Image< OutputStorageType > &  gdir,
Image< OutputStorageType > &  dst 
)
protected

Definition at line 115 of file CannyEdge.cpp.

References BIAS::Image< StorageType >::GetImageDataArray(), and BIAS::Image< StorageType >::Init().

template<class InputStorageType, class OutputStorageType>
virtual CannyEdge<InputStorageType, OutputStorageType>* BIAS::CannyEdge< InputStorageType, OutputStorageType >::Clone ( ) const
inlinevirtual

get copy of this filter

Definition at line 69 of file CannyEdge.hh.

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )
inlineprotectedinherited

returns the next available debuglevel

Author
woelk 09/2006

Definition at line 521 of file Debug.hh.

template<class InputStorageType, class OutputStorageType>
void FilterBase::CopyNonROIFromSource ( const Image< InputStorageType > &  src,
Image< OutputStorageType > &  dst 
) const
inherited

run over all pixel which do not belong to the roi and set them to the value in the source image regardless of the roi of the source.

Both images must have same size.

Author
koeser 12/2008

Definition at line 135 of file FilterBase.cpp.

References BIAS::ImageBase::GetChannelCount(), BIAS::ROI::GetCorners(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetROI(), BIAS::ImageBase::GetWidth(), and BIAS::ROI_Corners.

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv) const
inlineinherited
Examples:
ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name) const
inlineinherited

Definition at line 350 of file Debug.hh.

template<class InputStorageType , class OutputStorageType>
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::DetermineThresholds_ ( const Image< OutputStorageType > &  src,
OutputStorageType &  low,
OutputStorageType &  high 
)
protected

Definition at line 240 of file CannyEdge.cpp.

References BIAS::Image< StorageType >::GetImageData(), BIAS::Image< StorageType >::GetMinMaxPixelValue(), and BIAS::ImageBase::GetPixelCount().

template<class InputStorageType, class OutputStorageType>
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::Filter ( const Image< InputStorageType > &  src,
Image< OutputStorageType > &  gx,
Image< OutputStorageType > &  gy,
Image< OutputStorageType > &  magnitude,
Image< OutputStorageType > &  gdir,
Image< OutputStorageType > &  dst 
)
virtual

call for getting all intermediary results

Definition at line 58 of file CannyEdge.cpp.

References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::Image< StorageType >::Release().

template<class InputStorageType, class OutputStorageType>
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::Filter ( const Image< InputStorageType > &  src,
Image< OutputStorageType > &  dst 
)
virtual

call for only getting the (binary) edge image

Implements BIAS::FilterBase< InputStorageType, OutputStorageType >.

Definition at line 104 of file CannyEdge.cpp.

template<class InputStorageType, class OutputStorageType>
int BIAS::FilterBase< InputStorageType, OutputStorageType >::GetBorderHandling ( ) const
inlineinherited

Definition at line 129 of file FilterBase.hh.

template<class InputStorageType , class OutputStorageType >
void FilterBase::GetBorders ( int &  border_x,
int &  border_y 
) const
inherited

Definition at line 61 of file FilterBase.cpp.

Referenced by BIAS::Rescale< InputStorageType, OutputStorageType >::GetBordersValid_().

template<class InputStorageType , class OutputStorageType >
void BIAS::CannyEdge< InputStorageType, OutputStorageType >::GetBordersValid_ ( int &  border_x,
int &  border_y 
) const
virtual

not implemented

Implements BIAS::FilterBase< InputStorageType, OutputStorageType >.

Definition at line 234 of file CannyEdge.cpp.

int BIAS::Debug::GetDebugLevel ( ) const
inlineinherited
Examples:
ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const
inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream &  os) const
inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )
inlinestaticinherited

Definition at line 431 of file Debug.hh.

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name) const
inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author
woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name)
inlineinherited

creates a new debuglevel

Author
woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout) const
inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int  lv)
inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 376 of file Debug.hh.

template<class InputStorageType, class OutputStorageType>
void BIAS::FilterBase< InputStorageType, OutputStorageType >::SetBorderHandling ( const int  bh)
inlineinherited

Definition at line 127 of file FilterBase.hh.

Referenced by BIAS::PMDImageProc::DenoiseDepthImage(), BIAS::CalibratedPyramid< StorageType >::Downsample_(), BIAS::PMDImageProc::FitDepthTo2DImage(), and BIAS::PMDImageProc::FitDepthTo2DImageFree_().

void BIAS::Debug::SetDebugLevel ( const long int  lv)
inlineinherited
Examples:
ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDcam.cpp, ExampleDcamImageConvert.cpp, ExampleDirectToDisk.cpp, ExampleGrabTrippleFromXB3.cpp, ExampleHarrisColor.cpp, ExampleLDA.cpp, ExampleLineMatcher.cpp, ExampleMDCamToShm.cpp, ExampleParabola.cpp, ExamplePMatrix.cpp, ExamplePtGreyHiresColor.cpp, ExampleVideoSource_Shm.cpp, and Scan1394Bus.cpp.

Definition at line 318 of file Debug.hh.

Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

void BIAS::Debug::SetDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream &  os)
inlineinherited

Definition at line 398 of file Debug.hh.

template<class InputStorageType , class OutputStorageType >
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::SetEdgeWidth ( unsigned int  edgeWidth)

set edge width for hysteresis.

In the hysteresis step, we walk along the detected edge pixels and look at the neighboring pixels in gradient direction to determine a pixel best suiting the edge (in terms of highest magnitude). edgeWidth defines the pixel offset to the neighbor pixels, so that the default value of 1 will result in a result image with one pixel wide edges. A value of 3 will result in a thicker edge, but might give more connectivity along the edges.

Definition at line 302 of file CannyEdge.cpp.

template<class InputStorageType , class OutputStorageType >
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::SetGaussSigma ( float  sigma)

before edge detection, the input image is blurred with a gaussian. Set sigma here (defaults to 1.4)

Definition at line 277 of file CannyEdge.cpp.

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev)
inlinestaticinherited

Definition at line 424 of file Debug.hh.

template<class InputStorageType , class OutputStorageType>
void FilterBase::SetNonROIToValue ( Image< OutputStorageType > &  dst,
const std::vector< OutputStorageType > &  t 
) const
inherited

run over all pixel which do not belong to the roi and set them to some value (typically black)

Author
koeser 12/2008

Definition at line 84 of file FilterBase.cpp.

References BIAS::ImageBase::GetChannelCount(), BIAS::ROI::GetCorners(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetROI(), BIAS::ImageBase::GetWidth(), and BIAS::ROI_Corners.

template<class InputStorageType , class OutputStorageType>
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::SetThresholdsAbsolute ( OutputStorageType  lowAbs_,
OutputStorageType  highAbs_ 
)

set absolute value of low and high thresholds for hysteresis in magnitude gradient image

Definition at line 284 of file CannyEdge.cpp.

template<class InputStorageType , class OutputStorageType >
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::SetThresholdsRelative ( unsigned int  low_,
unsigned int  high_ 
)

set value of low and high thresholds for hysteresis in magnitude gradient image in terms of percent of image pixels

Definition at line 293 of file CannyEdge.cpp.

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout) const
inlineinherited

prints all internally known debuglevels

Author
woelk 09/2006

Definition at line 496 of file Debug.hh.

template<class InputStorageType, class OutputStorageType>
int BIAS::CannyEdge< InputStorageType, OutputStorageType >::SmoothImage_ ( const Image< InputStorageType > &  src,
Image< OutputStorageType > &  smoothed 
)
protected

Definition at line 91 of file CannyEdge.cpp.

References BIAS::Rescale< InputStorageType, OutputStorageType >::Filter(), and BIAS::Rescale< InputStorageType, OutputStorageType >::SetFactor().

Member Data Documentation

template<class InputStorageType, class OutputStorageType>
int BIAS::FilterBase< InputStorageType, OutputStorageType >::_FilterBorderHandling
protectedinherited

Definition at line 132 of file FilterBase.hh.

Referenced by BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase().

long int BIAS::Debug::_liDebugLevel
protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel
protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel
protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream
staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

template<class InputStorageType, class OutputStorageType>
Convolution<OutputStorageType, OutputStorageType> BIAS::CannyEdge< InputStorageType, OutputStorageType >::ConvX_
protected

Definition at line 105 of file CannyEdge.hh.

template<class InputStorageType, class OutputStorageType>
Convolution<OutputStorageType, OutputStorageType> BIAS::CannyEdge< InputStorageType, OutputStorageType >::ConvY_
protected

Definition at line 107 of file CannyEdge.hh.

long int BIAS::Debug::GlobalDebugLevel = 0
staticprotectedinherited

Definition at line 513 of file Debug.hh.

The documentation for this class was generated from the following files:
Generated on Tue Feb 6 2018 02:01:49 for Basic Image AlgorithmS Library by   doxygen 1.8.5