biagio montesano
11 years ago
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.. _LSDDetector: |
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Line Segments Detector |
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====================== |
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Lines extraction methodology |
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---------------------------- |
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The lines extraction methodology described in the following is mainly based on [EDL]_. |
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The extraction starts with a Gaussian pyramid generated from an original image, downsampled N-1 times, blurred N times, to obtain N layers (one for each octave), with layer 0 corresponding to input image. Then, from each layer (octave) in the pyramid, lines are extracted using LSD algorithm. |
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Differently from EDLine lines extractor used in original article, LSD furnishes information only about lines extremes; thus, additional information regarding slope and equation of line are computed via analytic methods. The number of pixels is obtained using `LineIterator <http://docs.opencv.org/modules/core/doc/drawing_functions.html#lineiterator>`_. Extracted lines are returned in the form of KeyLine objects, but since extraction is based on a method different from the one used in `BinaryDescriptor <binary_descriptor.html>`_ class, data associated to a line's extremes in original image and in octave it was extracted from, coincide. KeyLine's field *class_id* is used as an index to indicate the order of extraction of a line inside a single octave. |
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LSDDetector::createLSDDetector |
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------------------------------ |
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Creates ad LSDDetector object, using smart pointers. |
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.. ocv:function:: Ptr<LSDDetector> LSDDetector::createLSDDetector() |
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LSDDetector::detect |
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------------------- |
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Detect lines inside an image. |
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.. ocv:function:: void LSDDetector::detect( const Mat& image, std::vector<KeyLine>& keylines, int scale, int numOctaves, const Mat& mask=Mat()) |
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.. ocv:function:: void LSDDetector::detect( const std::vector<Mat>& images, std::vector<std::vector<KeyLine> >& keylines, int scale, int numOctaves, const std::vector<Mat>& masks=std::vector<Mat>() ) const |
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:param image: input image |
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:param images: input images |
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:param keylines: vector or set of vectors that will store extracted lines for one or more images |
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:param mask: mask matrix to detect only KeyLines of interest |
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:param masks: vector of mask matrices to detect only KeyLines of interest from each input image |
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:param scale: scale factor used in pyramids generation |
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:param numOctaves: number of octaves inside pyramid |
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References |
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---------- |
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.. [EDL] Von Gioi, R. Grompone, et al. *LSD: A fast line segment detector with a false detection control*, IEEE Transactions on Pattern Analysis and Machine Intelligence 32.4 (2010): 722-732. |
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After Width: | Height: | Size: 164 KiB |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2014, Biagio Montesano, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp" |
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using namespace cv; |
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Ptr<LSDDetector> LSDDetector::createLSDDetector() |
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{ |
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return Ptr<LSDDetector>( new LSDDetector() ); |
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} |
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/* compute Gaussian pyramid of input image */ |
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void LSDDetector::computeGaussianPyramid( const Mat& image, int numOctaves, int scale ) |
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{ |
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/* clear class fields */ |
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gaussianPyrs.clear(); |
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/* insert input image into pyramid */ |
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cv::Mat currentMat = image.clone(); |
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cv::GaussianBlur( currentMat, currentMat, cv::Size( 5, 5 ), 1 ); |
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gaussianPyrs.push_back( currentMat ); |
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/* fill Gaussian pyramid */ |
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for ( int pyrCounter = 1; pyrCounter < numOctaves; pyrCounter++ ) |
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{ |
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/* compute and store next image in pyramid and its size */ |
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pyrDown( currentMat, currentMat, Size( currentMat.cols / scale, currentMat.rows / scale ) ); |
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gaussianPyrs.push_back( currentMat ); |
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} |
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} |
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/* check lines' extremes */ |
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inline void checkLineExtremes( cv::Vec4i& extremes, cv::Size imageSize ) |
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{ |
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if( extremes[0] < 0 ) |
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extremes[0] = 0; |
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if( extremes[0] >= imageSize.width ) |
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extremes[0] = imageSize.width - 1; |
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if( extremes[2] < 0 ) |
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extremes[2] = 0; |
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if( extremes[2] >= imageSize.width ) |
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extremes[2] = imageSize.width - 1; |
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if( extremes[1] < 0 ) |
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extremes[1] = 0; |
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if( extremes[1] >= imageSize.height ) |
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extremes[1] = imageSize.height - 1; |
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if( extremes[3] < 0 ) |
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extremes[3] = 0; |
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if( extremes[3] >= imageSize.height ) |
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extremes[3] = imageSize.height - 1; |
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} |
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/* requires line detection (only one image) */ |
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void LSDDetector::detect( const Mat& image, CV_OUT std::vector<KeyLine>& keylines, int scale, int numOctaves, const Mat& mask ) |
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{ |
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if( mask.data != NULL && ( mask.size() != image.size() || mask.type() != CV_8UC1 ) ) |
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{ |
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std::cout << "Mask error while detecting lines: " << "please check its dimensions and that data type is CV_8UC1" << std::endl; |
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CV_Assert( false ); |
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} |
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else |
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detectImpl( image, keylines, numOctaves, scale, mask ); |
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} |
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/* requires line detection (more than one image) */ |
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void LSDDetector::detect( const std::vector<Mat>& images, std::vector<std::vector<KeyLine> >& keylines, int scale, int numOctaves, |
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const std::vector<Mat>& masks ) const |
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{ |
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/* detect lines from each image */ |
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for ( size_t counter = 0; counter < images.size(); counter++ ) |
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{ |
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if( masks[counter].data != NULL && ( masks[counter].size() != images[counter].size() || masks[counter].type() != CV_8UC1 ) ) |
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{ |
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std::cout << "Masks error while detecting lines: " << "please check their dimensions and that data types are CV_8UC1" << std::endl; |
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CV_Assert( false ); |
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} |
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detectImpl( images[counter], keylines[counter], numOctaves, scale, masks[counter] ); |
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} |
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} |
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/* implementation of line detection */ |
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void LSDDetector::detectImpl( const Mat& imageSrc, std::vector<KeyLine>& keylines, int numOctaves, int scale, const Mat& mask ) const |
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{ |
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cv::Mat image; |
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if( imageSrc.channels() != 1 ) |
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cvtColor( imageSrc, image, COLOR_BGR2GRAY ); |
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else |
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image = imageSrc.clone(); |
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/*check whether image depth is different from 0 */ |
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if( image.depth() != 0 ) |
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{ |
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std::cout << "Warning, depth image!= 0" << std::endl; |
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CV_Assert( false ); |
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} |
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/* create a pointer to self */ |
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LSDDetector *lsd = const_cast<LSDDetector*>( this ); |
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/* compute Gaussian pyramids */ |
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lsd->computeGaussianPyramid( image, numOctaves, scale ); |
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/* create an LSD extractor */ |
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cv::Ptr<cv::LineSegmentDetector> ls = cv::createLineSegmentDetector( cv::LSD_REFINE_ADV ); |
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/* prepare a vector to host extracted segments */ |
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std::vector<std::vector<cv::Vec4i> > lines_lsd; |
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/* extract lines */ |
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for ( int i = 0; i < numOctaves; i++ ) |
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{ |
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std::vector<Vec4i> octave_lines; |
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ls->detect( gaussianPyrs[i], octave_lines ); |
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lines_lsd.push_back( octave_lines ); |
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} |
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/* create keylines */ |
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for ( int j = 0; j < (int) lines_lsd.size(); j++ ) |
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{ |
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for ( int k = 0; k < (int) lines_lsd[j].size(); k++ ) |
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{ |
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KeyLine kl; |
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cv::Vec4i extremes = lines_lsd[j][k]; |
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/* check data validity */ |
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checkLineExtremes( extremes, gaussianPyrs[j].size() ); |
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/* fill KeyLine's fields */ |
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kl.startPointX = extremes[0]; |
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kl.startPointY = extremes[1]; |
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kl.endPointX = extremes[2]; |
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kl.endPointY = extremes[3]; |
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kl.sPointInOctaveX = extremes[0]; |
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kl.sPointInOctaveY = extremes[1]; |
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kl.ePointInOctaveX = extremes[2]; |
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kl.ePointInOctaveY = extremes[3]; |
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kl.lineLength = sqrt( pow( extremes[0] - extremes[2], 2 ) + pow( extremes[1] - extremes[3], 2 ) ); |
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/* compute number of pixels covered by line */ |
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LineIterator li( gaussianPyrs[j], Point( extremes[0], extremes[1] ), Point( extremes[2], extremes[3] ) ); |
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kl.numOfPixels = li.count; |
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kl.angle = atan2( ( kl.endPointY - kl.startPointY ), ( kl.endPointX - kl.startPointX ) ); |
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kl.class_id = k; |
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kl.octave = j; |
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kl.size = ( kl.endPointX - kl.startPointX ) * ( kl.endPointY - kl.startPointY ); |
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kl.response = kl.lineLength / max( gaussianPyrs[j].cols, gaussianPyrs[j].rows ); |
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kl.pt = Point( ( kl.endPointX + kl.startPointX ) / 2, ( kl.endPointY + kl.startPointY ) / 2 ); |
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keylines.push_back( kl ); |
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} |
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} |
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/* delete undesired KeyLines, according to input mask */ |
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if( !mask.empty() ) |
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{ |
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for ( size_t keyCounter = 0; keyCounter < keylines.size(); keyCounter++ ) |
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{ |
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KeyLine kl = keylines[keyCounter]; |
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if( mask.at<uchar>( kl.startPointY, kl.startPointX ) == 0 && mask.at<uchar>( kl.endPointY, kl.endPointX ) == 0 ) |
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keylines.erase( keylines.begin() + keyCounter ); |
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} |
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} |
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} |
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