From fc72a71b336841a49b26da6fb609e3f8a952d9b9 Mon Sep 17 00:00:00 2001 From: biagio montesano Date: Mon, 16 Jun 2014 18:59:24 +0200 Subject: [PATCH] Inheritage completed. 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component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + FOREACH(file + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libopencv_line_descriptor.so.3.0.0" + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libopencv_line_descriptor.so.3.0" + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libopencv_line_descriptor.so" + ) + IF(EXISTS "${file}" AND + NOT IS_SYMLINK "${file}") + FILE(RPATH_CHECK + FILE "${file}" + RPATH "/usr/local/lib") + ENDIF() + ENDFOREACH() + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES + "/home/ubisum/src/opencv/lib/libopencv_line_descriptor.so.3.0.0" + "/home/ubisum/src/opencv/lib/libopencv_line_descriptor.so.3.0" + "/home/ubisum/src/opencv/lib/libopencv_line_descriptor.so" + ) + FOREACH(file + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libopencv_line_descriptor.so.3.0.0" + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libopencv_line_descriptor.so.3.0" + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libopencv_line_descriptor.so" + ) + IF(EXISTS "${file}" AND + NOT IS_SYMLINK "${file}") + FILE(RPATH_CHANGE + FILE "${file}" + OLD_RPATH "/home/ubisum/src/opencv/lib:" + NEW_RPATH "/usr/local/lib") + IF(CMAKE_INSTALL_DO_STRIP) + EXECUTE_PROCESS(COMMAND "/usr/bin/strip" "${file}") + ENDIF(CMAKE_INSTALL_DO_STRIP) + ENDIF() + ENDFOREACH() +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/opencv2" TYPE FILE FILES "/home/ubisum/src/opencv/modules/line_descriptor/include/opencv2/line_descriptor.hpp") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/opencv2/line_descriptor" TYPE FILE FILES "/home/ubisum/src/opencv/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/opencv2/line_descriptor" TYPE FILE FILES "/home/ubisum/src/opencv/modules/line_descriptor/include/opencv2/line_descriptor/LineStructure.hpp") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "main") + diff --git a/modules/line_descriptor/include/opencv2/line_descriptor.hpp b/modules/line_descriptor/include/opencv2/line_descriptor.hpp index 7fe76673f..9ed31a256 100644 --- a/modules/line_descriptor/include/opencv2/line_descriptor.hpp +++ b/modules/line_descriptor/include/opencv2/line_descriptor.hpp @@ -43,7 +43,7 @@ #define __OPENCV_LINE_DESCRIPTOR_HPP__ #include "opencv2/line_descriptor/descriptor.hpp" -#include "opencv2/core.hpp" +//#include "opencv2/core.hpp" namespace cv { diff --git a/modules/line_descriptor/include/opencv2/line_descriptor/LineStructure.hpp b/modules/line_descriptor/include/opencv2/line_descriptor/LineStructure.hpp index 22155c6fc..c765310b0 100644 --- a/modules/line_descriptor/include/opencv2/line_descriptor/LineStructure.hpp +++ b/modules/line_descriptor/include/opencv2/line_descriptor/LineStructure.hpp @@ -88,15 +88,15 @@ struct OctaveSingleLine { /*endPoints, the coordinate origin is the top-left corner of the original image. *startPointX = sPointInOctaveX * (factor)^octaveCount; */ - float startPointX; - float startPointY; - float endPointX; - float endPointY; + float startPointX; + float startPointY; + float endPointX; + float endPointY; //endPoints, the coordinate origin is the top-left corner of the octave image. - float sPointInOctaveX; - float sPointInOctaveY; - float ePointInOctaveX; - float ePointInOctaveY; + float sPointInOctaveX; + float sPointInOctaveY; + float ePointInOctaveX; + float ePointInOctaveY; //direction of a line, the angle between positive line direction (dark side is in the left) and positive X axis. float direction; //the summation of gradient magnitudes of pixels on lines diff --git a/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp b/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp index 6887b9cdb..2637270ed 100644 --- a/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp +++ b/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp @@ -48,6 +48,8 @@ #include "LineStructure.hpp" #include "opencv2/core.hpp" +#include + namespace cv @@ -76,7 +78,7 @@ namespace cv }; - class CV_EXPORTS_W BinaryDescriptor : public Feature2D + class CV_EXPORTS_W BinaryDescriptor: public Feature2D { public: @@ -117,8 +119,9 @@ namespace cv BinaryDescriptor::Params()); /* constructors with smart pointers */ - CV_EXPORTS Ptr createBinaryDescriptor(); - CV_EXPORTS Ptr createBinaryDescriptor(Params parameters); + static Ptr createBinaryDescriptor(); + static Ptr createBinaryDescriptor(Params parameters); + ~BinaryDescriptor(); /* read parameters from a FileNode object and store them (class function ) */ virtual void read( const cv::FileNode& fn ); @@ -131,6 +134,10 @@ namespace cv CV_OUT std::vector& keypoints, const Mat& mask=Mat() ); + CV_WRAP void detectKL( const Mat& image, + CV_OUT std::vector& keypoints, + const Mat& mask=Mat() ); + /* requires line detection (more than one image) */ void detect( const std::vector& images, std::vector >& keypoints, @@ -158,6 +165,7 @@ namespace cv /* check whether Gaussian pyramids were created */ bool empty() const; + /* definition of operator (), as required by Feature2D */ CV_WRAP_AS(detectAndCompute) virtual void operator()( InputArray image, InputArray mask, CV_OUT std::vector& keypoints, @@ -166,14 +174,22 @@ namespace cv protected: + /* implementation of line detection */ virtual void detectImpl( const Mat& image, std::vector& keypoints, const Mat& mask=Mat() ) const; + virtual void detectImplKL( const Mat& image, + std::vector& keypoints, + const Mat& mask=Mat() ) const; + + + /* implementation of descriptors' computation */ virtual void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + /* function inherited by Algorithm */ AlgorithmInfo* info() const; private: diff --git a/modules/line_descriptor/samples/CMakeLists.txt~ b/modules/line_descriptor/samples/CMakeLists.txt~ new file mode 100644 index 000000000..4b8b6dca3 --- /dev/null +++ b/modules/line_descriptor/samples/CMakeLists.txt~ @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8) +project(map_test) +find_package(OpenCV REQUIRED) + +set(SOURCES lines_extraction.cpp ../src/BinaryDescriptor.cpp) + +include_directories(${OpenCV_INCLUDE_DIRS}) +add_executable(lines_extraction ${SOURCES} ${HEADERS}) +target_link_libraries(lines_extraction ${OpenCV_LIBS}) diff --git a/modules/line_descriptor/samples/lines_extraction.cpp b/modules/line_descriptor/samples/lines_extraction.cpp index 8b1378917..a71bc44cb 100644 --- a/modules/line_descriptor/samples/lines_extraction.cpp +++ b/modules/line_descriptor/samples/lines_extraction.cpp @@ -1 +1,83 @@ +#include + +#include "opencv2/core/utility.hpp" +#include "opencv2/core/private.hpp" +#include +#include +#include + +#include + +using namespace cv; +using namespace std; + +static const char* keys = +{ + "{@image_path | | Image path }" +}; + + +int main( int argc, char** argv ) +{ + /* get parameters from comand line */ + CommandLineParser parser( argc, argv, keys ); + String image_path = parser.get( 0 ); + + if(image_path.empty()) + { + // help(); + return -1; + } + + /* load image */ + cv::Mat imageMat = imread(image_path, 0); + if(imageMat.data == NULL) + { + std::cout << "Error, image could not be loaded. Please, check its path" << std::endl; + } + + /* create a ramdom binary mask */ +// cv::Mat mask(imageMat.size(), CV_8UC1); +// cv::randu(mask, Scalar::all(0), Scalar::all(1)); + cv::Mat mask = Mat::ones(imageMat.size(), CV_8UC1); + + /* create a pointer to a BinaryDescriptor object with deafult parameters */ + Ptr bd = BinaryDescriptor::createBinaryDescriptor(); + + /* create a structure to store extracted lines */ + vector lines; + + /* extract lines */ + bd->detectKL(imageMat, lines, mask); + + /* draw lines extracted from octave 0 */ + cv::Mat output = imageMat.clone(); + cvtColor(output, output, COLOR_GRAY2BGR); + for(size_t i = 0; i& keypoints, + const Mat& mask ) +{ + detectImplKL(image, keypoints, mask); +} + + /* requires line detection (more than one image) */ void BinaryDescriptor::detect( const std::vector& images, std::vector >& keypoints, @@ -332,10 +345,73 @@ void BinaryDescriptor::detect( const std::vector& images, } } +void BinaryDescriptor::detectImplKL( const Mat& image, + std::vector& keypoints, + const Mat& mask ) const +{ + + /*check whether image depth is different from 0 */ + if(image.depth() != 0) + { + std::cout << "Warning, depth image!= 0" << std::endl; + CV_Assert(false); + } + + /* create a pointer to self */ + BinaryDescriptor *bn = const_cast(this); + + /* compute Gaussian pyramid */ + bn->computeGaussianPyramid(image); + + /* detect and arrange lines across octaves */ + ScaleLines sl; + bn->OctaveKeyLines(sl); + + + /* fill KeyLines vector */ + for(int i = 0; i<(int)sl.size(); i++) + { + for(size_t j = 0; j& keypoints, const Mat& mask) const { + /*check whether image depth is different from 0 */ if(image.depth() != 0) { @@ -346,7 +422,6 @@ void BinaryDescriptor::detectImpl( const Mat& image, std::vector& keyp /* create a pointer to self */ BinaryDescriptor *bn = const_cast(this); - /* compute Gaussian pyramid */ bn->computeGaussianPyramid(image); @@ -354,6 +429,8 @@ void BinaryDescriptor::detectImpl( const Mat& image, std::vector& keyp ScaleLines sl; bn->OctaveKeyLines(sl); + + /* fill KeyLines vector */ for(int i = 0; i<(int)sl.size(); i++) { @@ -389,16 +466,20 @@ void BinaryDescriptor::detectImpl( const Mat& image, std::vector& keyp /* store KeyLine */ keypoints.push_back(kl); } + } /* delete undesired KeyLines, according to input mask */ - for(size_t keyCounter = 0; keyCounter(&keypoints[keyCounter]); - if(mask.at(kl->startPointX, kl->startPointY) == 0 && - mask.at(kl->endPointX, kl->endPointY) == 0) - keypoints.erase(keypoints.begin() + keyCounter); - } +// for(size_t keyCounter = 0; keyCounter(&keypoints[keyCounter]); +// std::cout << (mask.size()).height << " " << (mask.size()).width << " " << +// kl->startPointX << " " << kl->startPointY << " " << +// kl->endPointX << " " << kl->endPointY << std::endl; +// if(mask.at(kl->startPointX, kl->startPointY) == 0 && +// mask.at(kl->endPointX, kl->endPointY) == 0) +// keypoints.erase(keypoints.begin() + keyCounter); +// } } @@ -567,6 +648,7 @@ void BinaryDescriptor::computeImpl( const Mat& image, int BinaryDescriptor::OctaveKeyLines(ScaleLines &keyLines) { + /* final number of extracted lines */ unsigned int numOfFinalLine = 0; @@ -578,7 +660,7 @@ int BinaryDescriptor::OctaveKeyLines(ScaleLines &keyLines) /* create an LSD detector and store a pointer to it */ cv::Ptr ls = cv::createLineSegmentDetector(cv::LSD_REFINE_STD); - /* prepare a vectore to host extracted segments */ + /* prepare a vector to host extracted segments */ std::vector lines_std; /* use detector to extract segments */ @@ -590,6 +672,7 @@ int BinaryDescriptor::OctaveKeyLines(ScaleLines &keyLines) /* update lines counter */ numOfFinalLine += lines_std.size(); + } /* prepare a vector to store octave information associated to extracted lines */ @@ -615,15 +698,17 @@ int BinaryDescriptor::OctaveKeyLines(ScaleLines &keyLines) octaveLines[numOfFinalLine].lineIDInScaleLineVec = lineIDInScaleLineVec; /* compute absolute value of difference between X coordinates of line's extreme points */ - dx = (extractedLines[0][lineCurId])[0] - (extractedLines[0][lineCurId])[2]; + dx = fabs((extractedLines[0][lineCurId])[0] - (extractedLines[0][lineCurId])[2]); /* compute absolute value of difference between Y coordinates of line's extreme points */ - dy = (extractedLines[0][lineCurId])[1] - (extractedLines[0][lineCurId])[3]; + dy = fabs((extractedLines[0][lineCurId])[1] - (extractedLines[0][lineCurId])[3]); /* compute line's length */ octaveLines[numOfFinalLine].lineLength = sqrt(dx*dx+dy*dy); /* update counters */ numOfFinalLine++; lineIDInScaleLineVec++; + + } /* create and fill an array to store scale factors */ @@ -650,149 +735,149 @@ int BinaryDescriptor::OctaveKeyLines(ScaleLines &keyLines) float lp0,lp1, lp2, lp3, np0,np1, np2, np3; /* loop over list of octaves */ - for(unsigned int octaveCount = 1; octaveCount<(unsigned int)params.numOfOctave_; octaveCount++) - { - /*for each line in current octave image, find their corresponding lines - in the octaveLines, - give them the same value of lineIDInScaleLineVec*/ + for(unsigned int octaveCount = 1; octaveCount<(unsigned int)params.numOfOctave_; octaveCount++) + { + /*for each line in current octave image, find their corresponding lines + in the octaveLines, + give them the same value of lineIDInScaleLineVec*/ - /* loop over list of lines extracted from current octave */ - for(unsigned int lineCurId=0;lineCurId6)?(tempValue):6; + nearThreshold = (nearThreshold<12)?nearThreshold:12; + + /* compute scaled lenght of current line */ + dx = fabs((extractedLines[octaveCount][lineCurId])[0]-(extractedLines[octaveCount][lineCurId][2]));//x1-x2 + dy = fabs((extractedLines[octaveCount][lineCurId])[1]-(extractedLines[octaveCount][lineCurId][3]));//y1-y2 + length = scale[octaveCount] * sqrt(dx*dx+dy*dy); + + minEndPointDis = 12; + /* loop over the octave representations of all lines */ + for(unsigned int lineNextId=0; lineNextId0.1745 && (twoPI - direction>0.1745)) + continue; + + /*now check whether current line and next line are near to each other. + Get known term from equation to be compared */ + rho2 = scale[octaveID] * fabs(line_equation_to_compare[2]); + + /* compute difference between known terms */ + near = fabs(rho1 - rho2); + + /* two lines are not close in the image */ + if(near>nearThreshold) + continue; + + /* get the extreme points of the two lines */ + lp0 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[0]; + lp1 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[1]; + lp2 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[2]; + lp3 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[3]; + np0 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[0]; + np1 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[1]; + np2 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[2]; + np3 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[3]; + + /* get the distance between the two leftmost extremes of lines + L1(0,1)<->L2(0,1) */ + dx = lp0 - np0; + dy = lp1 - np1; + endPointDis = sqrt(dx*dx + dy*dy); + + /* set momentaneously min and max distance between lines to + the one between left extremes */ + minLocalDis = endPointDis; + maxLocalDis = endPointDis; + + /* compute distance between right extremes + L1(2,3)<->L2(2,3) */ + dx = lp2 - np2; + dy = lp3 - np3; + endPointDis = sqrt(dx*dx + dy*dy); + + /* update (if necessary) min and max distance between lines */ + minLocalDis = (endPointDismaxLocalDis)?endPointDis:maxLocalDis; + + /* compute distance between left extreme of current line and + right extreme of line to be compared + L1(0,1)<->L2(2,3) */ + dx = lp0 - np2; + dy = lp1 - np3; + endPointDis = sqrt(dx*dx + dy*dy); + + /* update (if necessary) min and max distance between lines */ + minLocalDis = (endPointDismaxLocalDis)?endPointDis:maxLocalDis; + + /* compute distance between right extreme of current line and + left extreme of line to be compared + L1(2,3)<->L2(0,1) */ + dx = lp2 - np0; + dy = lp3 - np1; + endPointDis = sqrt(dx*dx + dy*dy); + + /* update (if necessary) min and max distance between lines */ + minLocalDis = (endPointDismaxLocalDis)?endPointDis:maxLocalDis; + + /* check whether conditions for considering line to be compared + wremoveInvalidPointsorth to be inserted in the same LineVec are satisfied */ + if((maxLocalDis<0.8*(length+octaveLines[lineNextId].lineLength)) + &&(minLocalDis6)?(tempValue):6; - nearThreshold = (nearThreshold<12)?nearThreshold:12; - - /* compute scaled lenght of current line */ - dx = fabs((extractedLines[octaveCount][lineCurId])[0]-(extractedLines[octaveCount][lineCurId][2]));//x1-x2 - dy = fabs((extractedLines[octaveCount][lineCurId])[1]-(extractedLines[octaveCount][lineCurId][3]));//y1-y2 - length = scale[octaveCount] * sqrt(dx*dx+dy*dy); - - minEndPointDis = 12; - /* loop over the octave representations of all lines */ - for(unsigned int lineNextId=0; lineNextId0.1745 && (twoPI - direction>0.1745)) - continue; - - /*now check whether current line and next line are near to each other. - Get known term from equation to be compared */ - rho2 = scale[octaveID] * fabs(line_equation_to_compare[2]); - - /* compute difference between known terms */ - near = fabs(rho1 - rho2); - - /* two lines are not close in the image */ - if(near>nearThreshold) - continue; - - /* get the extreme points of the two lines */ - lp0 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[0]; - lp1 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[1]; - lp2 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[2]; - lp3 = scale[octaveCount] * (extractedLines[octaveCount][lineCurId])[3]; - np0 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[0]; - np1 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[1]; - np2 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[2]; - np3 = scale[octaveID] * (extractedLines[octaveID][lineIDInOctave])[3]; - - /* get the distance between the two leftmost extremes of lines - L1(0,1)<->L2(0,1) */ - dx = lp0 - np0; - dy = lp1 - np1; - endPointDis = sqrt(dx*dx + dy*dy); - - /* set momentaneously min and max distance between lines to - the one between left extremes */ - minLocalDis = endPointDis; - maxLocalDis = endPointDis; - - /* compute distance between right extremes - L1(2,3)<->L2(2,3) */ - dx = lp2 - np2; - dy = lp3 - np3; - endPointDis = sqrt(dx*dx + dy*dy); - - /* update (if necessary) min and max distance between lines */ - minLocalDis = (endPointDismaxLocalDis)?endPointDis:maxLocalDis; - - /* compute distance between left extreme of current line and - right extreme of line to be compared - L1(0,1)<->L2(2,3) */ - dx = lp0 - np2; - dy = lp1 - np3; - endPointDis = sqrt(dx*dx + dy*dy); - - /* update (if necessary) min and max distance between lines */ - minLocalDis = (endPointDismaxLocalDis)?endPointDis:maxLocalDis; - - /* compute distance between right extreme of current line and - left extreme of line to be compared - L1(2,3)<->L2(0,1) */ - dx = lp2 - np0; - dy = lp3 - np1; - endPointDis = sqrt(dx*dx + dy*dy); - - /* update (if necessary) min and max distance between lines */ - minLocalDis = (endPointDismaxLocalDis)?endPointDis:maxLocalDis; - - /* check whether conditions for considering line to be compared - wremoveInvalidPointsorth to be inserted in the same LineVec are satisfied */ - if((maxLocalDis<0.8*(length+octaveLines[lineNextId].lineLength)) - &&(minLocalDis