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+#lang typed/racket
+(require images/flomap)
+(require racket/flonum)
+(require typed/racket/draw)
+(require math/array)
+
+(: flomap-grayscale (-> flomap flomap))
+(define (flomap-grayscale img)
+  (inline-build-flomap
+   1 (flomap-width img) (flomap-height img)
+   (λ (k x y i)
+     (+ (* (flomap-ref img 1 x y) 0.299)
+        (* (flomap-ref img 2 x y) 0.587)
+        (* (flomap-ref img 3 x y) 0.114)))))
+(provide flomap-grayscale)
+
+(: flomap-canny (-> flomap [#:heigh Flonum] [#:low Flonum] flomap))
+(define (flomap-canny img #:heigh [heigh 1.0] #:low [low 0.2])
+  (let ([img
+         (case (flomap-components img)
+           [(4) (flomap-grayscale img)]
+           [(1) img]
+           [else (error "flomap-canny: invalid components")])])
+    (canny img #:heigh heigh #:low low)))
+(provide flomap-canny)
+
+(: fmatan (-> flomap flomap flomap))
+(define (fmatan fm1 fm2)
+  (inline-build-flomap
+   (flomap-components fm1) (flomap-width fm1) (flomap-height fm1)
+   (λ (k x y i)
+     (atan (flomap-ref fm1 k x y)
+           (flomap-ref fm2 k x y)))))
+
+(define-type Orient (Array (U 'horizontal 'positive-diagonal 'vertical 'negative-diagonal)))
+(: tanθ->orient (-> flomap Orient))
+(define (tanθ->orient fm)
+  (build-array
+   `#[,(flomap-height fm) ,(flomap-width fm)]
+   (lambda ([v : Indexes])
+     (let ([y : Index (vector-ref v 0)]
+           [x : Index (vector-ref v 1)])
+       (let ([t : Flonum (flomap-ref fm 0 x y)])
+         (cond
+           [(<= -0.4142 t 0.4142) 'horizontal]
+           [(<= -0.4142 t 2.4142) 'positive-diagonal]
+           [(>= (abs t) 2.4142)   'vertical]
+           [else 'negative-diagonal]))))))
+
+(define-syntax-rule (idx w x y) (+ (* w y) x))
+
+(: trace! (-> FlVector flomap Orient Integer Integer Integer Integer Flonum Void))
+(define (trace! vec mag orient w h x y low)
+  (let loop ([x x] [y y])
+    (when (and (<= 0 x (- w 1)) (<= 0 y (- h 1))
+               (< (flvector-ref vec (idx w x y)) 0))
+      (define s (flomap-ref mag 0 x y))
+      (when (<= low s)
+        (flvector-set! vec (idx w x y) s)
+        (case (array-ref orient `#(,y ,x))
+          [(horizontal)
+           (loop (+ x 1) y)
+           (loop (- x 1) y)]
+          [(positive-diagonal)
+           (loop (+ x 1) (+ y 1))
+           (loop (- x 1) (- y 1))]
+          [(vertical)
+           (loop x (+ y 1))
+           (loop x (- y 1))]
+          [(negative-diagonal)
+           (loop (+ x 1) (- y 1))
+           (loop (- x 1) (+ y 1))]
+          [else
+           (error "error")])))))
+
+(: canny (-> flomap [#:heigh Flonum] [#:low Flonum] flomap))
+(define canny
+  (lambda (fm #:heigh [heigh 1.0] #:low [low 0.2])
+    (let* ([w (flomap-width fm)]
+           [h (flomap-height fm)]
+           [sx (flomap-gradient-x fm)]
+           [sy (flomap-gradient-y fm)]
+           [mag (fmsqrt (fm+ (fmsqr sx) (fmsqr sy)))]
+           [ori (tanθ->orient (fm/ sx sy))]
+           [vec (make-flvector (* w h) -1.0)])
+      (for* ([y (in-range h)]
+             [x (in-range w)])
+        (when (<= heigh (flomap-ref mag 0 x y))
+          (trace! vec mag ori w h x y low)))
+      (flomap vec 1 w h))))