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[CORE] vpCanny Made min stack size an attribute [DOC] Documented stac…
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…k size

[CORE] Made the minimum stack size used in the detect method of the vpCannyEdgeDetection class an attribute that the user can either decrease or increase to meet their requirements.

[DOC]  Documented the fact that the stack size can lead to a segfault when the method is called for particular images and the specificities of each platform
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LAGNEAU Romain committed Nov 4, 2024
1 parent 956ca44 commit 4fe3eba
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77 changes: 74 additions & 3 deletions modules/core/include/visp3/core/vpCannyEdgeDetection.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,11 +34,16 @@
// System includes
#include <map>
#include <vector>
#include <iostream>
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <sys/resource.h> // To dynamically change the stack size
#endif

// ViSP include
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageFilter.h>
#include <visp3/core/vpRGBa.h>

// 3rd parties include
#ifdef VISP_HAVE_NLOHMANN_JSON
Expand All @@ -50,6 +55,10 @@ BEGIN_VISP_NAMESPACE
* \brief Class that implements the Canny's edge detector.
* It is possible to use a boolean mask to ignore some pixels of
* the input gray-scale image.
*
* \warning If the stack size is not sufficient, a SEGFAULT can occur on some images which
* are really over-exposed.
* \note The maximum stack on MacOS seems to be 65532000 bytes, see https://stackoverflow.com/a/13261334
*/
class VISP_EXPORT vpCannyEdgeDetection
{
Expand Down Expand Up @@ -133,6 +142,8 @@ class VISP_EXPORT vpCannyEdgeDetection
/**
* \brief Detect the edges in an image.
* Convert the color image into a ViSP gray-scale image.
* \warning If the stack size is not sufficient, a SEGFAULT can occur on some images which
* are really over-exposed.
*
* \param[in] cv_I A color image, in OpenCV format.
* \return vpImage<unsigned char> 255 means an edge, 0 means not an edge.
Expand All @@ -143,6 +154,8 @@ class VISP_EXPORT vpCannyEdgeDetection
/**
* \brief Detect the edges in an image.
* Convert the color image into a gray-scale image.
* \warning If the stack size is not sufficient, a SEGFAULT can occur on some images which
* are really over-exposed.
*
* \param[in] I_color : An RGB image, in ViSP format.
* \return vpImage<unsigned char> 255 means an edge, 0 means not an edge.
Expand All @@ -151,6 +164,8 @@ class VISP_EXPORT vpCannyEdgeDetection

/**
* \brief Detect the edges in a gray-scale image.
* \warning If the stack size is not sufficient, a SEGFAULT can occur on some images which
* are really over-exposed.
*
* \param[in] I : A gray-scale image, in ViSP format.
* \return vpImage<unsigned char> 255 means an edge, 0 means not an edge.
Expand Down Expand Up @@ -261,11 +276,41 @@ class VISP_EXPORT vpCannyEdgeDetection
}

/**
* \brief If set to true, the list of the detected edge-points will be available
* calling the method \b vpCannyEdgeDetection::getEdgePointsList().
* \brief Set the minimum stack size, expressed in bytes, due to the recursivity of the algorithm.
*
* \param[in] storeEdgePoints The new desired status.
* \note The stack size is changed back to its original value after
* before leaving the detect() function.
* \note On Windows, the minimum stack size is defined at compilation time
* and cannot be changed during runtime.
* \note The maximum stack on MacOS seems to be 65532000 bytes, see https://stackoverflow.com/a/13261334
* \warning If the stack size is not sufficient, a SEGFAULT can occur on some images which
* are really over-exposed.
*
* \param[in] requiredStackSize The required stack size, in bytes.
*/
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
inline void setMinimumStackSize(const rlim_t &requiredStackSize)
{
m_minStackSize = requiredStackSize;
}
#else
inline void setMinimumStackSize(const unsigned int &requiredStackSize)
{
(void)requiredStackSize;
static bool hasNotBeenDisplayed = true;
if (hasNotBeenDisplayed) {
std::cerr << "setStackSize has no effect on non-POSIX systems. The stack size is defined during compilation." << std::endl;
hasNotBeenDisplayed = false;
}
}
#endif

/**
* \brief If set to true, the list of the detected edge-points will be available
* calling the method \b vpCannyEdgeDetection::getEdgePointsList().
*
* \param[in] storeEdgePoints The new desired status.
*/
inline void setStoreEdgePoints(const bool &storeEdgePoints)
{
m_storeListEdgePoints = storeEdgePoints;
Expand All @@ -286,6 +331,29 @@ class VISP_EXPORT vpCannyEdgeDetection
}
return m_edgePointsList;
}

/**
* \brief Get the minimum stack size used by the algorithm.
*
* \note On Windows, the minimum stack size is defined at compilation time
* and cannot be changed during runtime.
*
* \return rlim_t The minimum stack size.
*/
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
inline rlim_t getMinimumStackSize() const
{
return m_minStackSize;
}
#else
inline unsigned int getMinimumStackSize() const
{
const unsigned int limit = 65532000;
return limit;
}
#endif


//@}
private:
typedef enum EdgeType
Expand Down Expand Up @@ -325,6 +393,9 @@ class VISP_EXPORT vpCannyEdgeDetection
must be lower than the upper threshold \b m_upperThreshold.*/

// // Edge tracking attributes
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
rlim_t m_minStackSize; /*!< Minimum stack size, due to the recursivity used in this step of the algorithm.*/
#endif
bool m_storeListEdgePoints; /*!< If true, the vector \b m_edgePointsList will contain the list of the edge points resulting from the whole algorithm.*/
std::map<std::pair<unsigned int, unsigned int>, EdgeType> m_edgePointsCandidates; /*!< Map that contains the strong edge points, i.e. the points for which we know for sure they are edge points,
and the weak edge points, i.e. the points for which we still must determine if they are actual edge points.*/
Expand Down
12 changes: 6 additions & 6 deletions modules/core/src/image/vpCannyEdgeDetection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,7 @@
#include <visp3/core/vpImageConvert.h>

#ifdef VISP_USE_MSVC
#pragma comment(linker, "/STACK:256000000") // Increase max recursion depth
#elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <sys/resource.h>
#pragma comment(linker, "/STACK:65532000") // Increase max recursion depth
#endif

#if (VISP_CXX_STANDARD == VISP_CXX_STANDARD_98) // Check if cxx98
Expand Down Expand Up @@ -126,6 +124,9 @@ vpCannyEdgeDetection::vpCannyEdgeDetection(const int &gaussianKernelSize, const
, m_lowerThresholdRatio(lowerThresholdRatio)
, m_upperThreshold(upperThreshold)
, m_upperThresholdRatio(upperThresholdRatio)
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
, m_minStackSize(65532000) // Maximum stack size on MacOS, see https://stackoverflow.com/a/13261334
#endif
, m_storeListEdgePoints(storeEdgePoints)
, mp_mask(nullptr)
{
Expand Down Expand Up @@ -247,15 +248,14 @@ vpCannyEdgeDetection::detect(const vpImage<unsigned char> &I)
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
// Increase stack size due to the recursive algorithm
const rlim_t kStackSize = 256 * 1024 * 1024; // min stack size = 256 MB
rlim_t initialStackSize;
struct rlimit rl;
int result;
result = getrlimit(RLIMIT_STACK, &rl);
if (result == 0) {
if (rl.rlim_cur < kStackSize) {
if (rl.rlim_cur < m_minStackSize) {
initialStackSize = rl.rlim_cur;
rl.rlim_cur = kStackSize;
rl.rlim_cur = m_minStackSize;
result = setrlimit(RLIMIT_STACK, &rl);
if (result != 0) {
throw(vpException(vpException::fatalError, "setrlimit returned result = %d\n", result));
Expand Down

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