From 96183dd09b9bcfc52162cf370bd34e30f80c9749 Mon Sep 17 00:00:00 2001 From: biagio montesano Date: Wed, 25 Jun 2014 16:10:46 +0200 Subject: [PATCH] Lines extraction and descriptors testing completed --- .../.line_descriptor/cmake_install.cmake | 2 +- modules/line_descriptor/CMakeCache.txt | 256 ----------------- .../DependInfo.cmake | 25 ++ .../build.make | 113 ++++++++ .../cmake_clean.cmake | 10 + .../depend.make | 2 + .../flags.make | 8 + .../link.txt | 1 + .../progress.make | 2 + .../flags.make | 2 +- .../link.txt | 2 +- .../opencv_line_descriptor.dir/flags.make | 2 +- .../opencv_line_descriptor.dir/link.txt | 2 +- .../flags.make | 2 +- .../progress.make | 2 +- .../build.make | 14 +- .../cmake_clean.cmake | 2 +- .../progress.make | 2 +- .../line_descriptor/CMakeFiles/progress.marks | 2 +- modules/line_descriptor/Makefile | 42 +++ modules/line_descriptor/cmake_install.cmake | 2 +- .../line_descriptor/doc/line_descriptor.rst | 79 ++++++ .../line_descriptor/doc/line_descriptor.rst~ | 79 ++++++ .../opencv2/line_descriptor/descriptor.hpp | 53 ++-- .../line_descriptor/samples/CMakeLists.txt~~ | 9 + modules/line_descriptor/samples/bak.txt | 9 + .../samples/compute_descriptors.cpp | 85 ++++++ .../samples/lines_extraction.cpp | 16 +- .../line_descriptor/src/BinaryDescriptor.cpp | 266 ++++++------------ 29 files changed, 617 insertions(+), 474 deletions(-) create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/DependInfo.cmake create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/build.make create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/cmake_clean.cmake create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/depend.make create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/flags.make create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/link.txt create mode 100644 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/progress.make create mode 100644 modules/line_descriptor/doc/line_descriptor.rst create mode 100644 modules/line_descriptor/doc/line_descriptor.rst~ create mode 100644 modules/line_descriptor/samples/CMakeLists.txt~~ create mode 100644 modules/line_descriptor/samples/bak.txt create mode 100644 modules/line_descriptor/samples/compute_descriptors.cpp diff --git a/modules/line_descriptor/.line_descriptor/cmake_install.cmake b/modules/line_descriptor/.line_descriptor/cmake_install.cmake index 2544d4049..064284409 100644 --- a/modules/line_descriptor/.line_descriptor/cmake_install.cmake +++ b/modules/line_descriptor/.line_descriptor/cmake_install.cmake @@ -12,7 +12,7 @@ IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") ELSE(BUILD_TYPE) - 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--switch=$(COLOR) --blue --bold "Generating precomp.hpp.gch/opencv_line_descriptor_RelWithDebInfo.gch" cd /home/ubisum/src/opencv/modules/line_descriptor && /usr/bin/cmake -E make_directory /home/ubisum/src/opencv/modules/line_descriptor/precomp.hpp.gch - cd /home/ubisum/src/opencv/modules/line_descriptor && /usr/bin/c++ -O3 -DNDEBUG -DNDEBUG -fPIC -DOPENCV_NOSTL -I"/home/ubisum/src/opencv/modules/optim/include" -I"/home/ubisum/src/opencv/modules/features2d/include" -I"/home/ubisum/src/opencv/modules/highgui/include" -I"/home/ubisum/src/opencv/modules/imgproc/include" -I"/home/ubisum/src/opencv/modules/flann/include" -I"/home/ubisum/src/opencv/modules/core/include" -I"/home/ubisum/src/opencv/modules/line_descriptor" -I"/home/ubisum/src/opencv/modules/line_descriptor/src" -I"/home/ubisum/src/opencv/modules/line_descriptor/include" -isystem"/home/ubisum/src/opencv" -isystem"/usr/local/include/eigen3" -D__OPENCV_BUILD=1 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -msse3 -msse4.1 -msse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -DCVAPI_EXPORTS -x c++-header -o /home/ubisum/src/opencv/modules/line_descriptor/precomp.hpp.gch/opencv_line_descriptor_Release.gch /home/ubisum/src/opencv/modules/line_descriptor/precomp.hpp + cd /home/ubisum/src/opencv/modules/line_descriptor && /usr/bin/c++ -O2 -g -fPIC -DOPENCV_NOSTL -I"/home/ubisum/src/opencv/modules/optim/include" -I"/home/ubisum/src/opencv/modules/features2d/include" -I"/home/ubisum/src/opencv/modules/highgui/include" -I"/home/ubisum/src/opencv/modules/imgproc/include" -I"/home/ubisum/src/opencv/modules/flann/include" -I"/home/ubisum/src/opencv/modules/core/include" -I"/home/ubisum/src/opencv/modules/line_descriptor" -I"/home/ubisum/src/opencv/modules/line_descriptor/src" -I"/home/ubisum/src/opencv/modules/line_descriptor/include" -isystem"/home/ubisum/src/opencv" -isystem"/usr/local/include/eigen3" -D__OPENCV_BUILD=1 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mssse3 -msse4.1 -msse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -DCVAPI_EXPORTS -x c++-header -o /home/ubisum/src/opencv/modules/line_descriptor/precomp.hpp.gch/opencv_line_descriptor_RelWithDebInfo.gch /home/ubisum/src/opencv/modules/line_descriptor/precomp.hpp modules/line_descriptor/precomp.hpp: modules/line_descriptor/src/precomp.hpp $(CMAKE_COMMAND) -E cmake_progress_report /home/ubisum/src/opencv/CMakeFiles $(CMAKE_PROGRESS_2) @@ -61,7 +61,7 @@ modules/line_descriptor/precomp.hpp: modules/line_descriptor/src/precomp.hpp cd /home/ubisum/src/opencv/modules/line_descriptor && /usr/bin/cmake -E copy /home/ubisum/src/opencv/modules/line_descriptor/src/precomp.hpp /home/ubisum/src/opencv/modules/line_descriptor/precomp.hpp pch_Generate_opencv_line_descriptor: modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor -pch_Generate_opencv_line_descriptor: modules/line_descriptor/precomp.hpp.gch/opencv_line_descriptor_Release.gch +pch_Generate_opencv_line_descriptor: modules/line_descriptor/precomp.hpp.gch/opencv_line_descriptor_RelWithDebInfo.gch pch_Generate_opencv_line_descriptor: modules/line_descriptor/precomp.hpp pch_Generate_opencv_line_descriptor: modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/build.make .PHONY : pch_Generate_opencv_line_descriptor diff --git a/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/cmake_clean.cmake b/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/cmake_clean.cmake index 6d3be5a49..0e6ac6538 100644 --- a/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/cmake_clean.cmake +++ b/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/cmake_clean.cmake @@ -1,6 +1,6 @@ FILE(REMOVE_RECURSE "CMakeFiles/pch_Generate_opencv_line_descriptor" - "precomp.hpp.gch/opencv_line_descriptor_Release.gch" + "precomp.hpp.gch/opencv_line_descriptor_RelWithDebInfo.gch" "precomp.hpp" ) diff --git a/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/progress.make b/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/progress.make index 6c287f17b..0d87696f0 100644 --- a/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/progress.make +++ b/modules/line_descriptor/CMakeFiles/pch_Generate_opencv_line_descriptor.dir/progress.make @@ -1,3 +1,3 @@ CMAKE_PROGRESS_1 = -CMAKE_PROGRESS_2 = +CMAKE_PROGRESS_2 = 98 diff --git a/modules/line_descriptor/CMakeFiles/progress.marks b/modules/line_descriptor/CMakeFiles/progress.marks index 0cfbf0888..7ed6ff82d 100644 --- a/modules/line_descriptor/CMakeFiles/progress.marks +++ b/modules/line_descriptor/CMakeFiles/progress.marks @@ -1 +1 @@ -2 +5 diff --git a/modules/line_descriptor/Makefile b/modules/line_descriptor/Makefile index 8c966d760..0385ef2d8 100644 --- a/modules/line_descriptor/Makefile +++ b/modules/line_descriptor/Makefile @@ -139,6 +139,20 @@ depend: cd /home/ubisum/src/opencv && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 .PHONY : depend +# Convenience name for target. +modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/rule: + cd /home/ubisum/src/opencv && $(MAKE) -f CMakeFiles/Makefile2 modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/rule +.PHONY : modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/rule + +# Convenience name for target. +example_line_descriptor_compute_descriptors: modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/rule +.PHONY : example_line_descriptor_compute_descriptors + +# fast build rule for target. +example_line_descriptor_compute_descriptors/fast: + cd /home/ubisum/src/opencv && $(MAKE) -f modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/build.make modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/build +.PHONY : example_line_descriptor_compute_descriptors/fast + # Convenience name for target. modules/line_descriptor/CMakeFiles/example_line_descriptor_lines_extraction.dir/rule: cd /home/ubisum/src/opencv && $(MAKE) -f CMakeFiles/Makefile2 modules/line_descriptor/CMakeFiles/example_line_descriptor_lines_extraction.dir/rule @@ -219,6 +233,30 @@ opencv_line_descriptor_pch_dephelp.cxx.s: cd /home/ubisum/src/opencv && $(MAKE) -f modules/line_descriptor/CMakeFiles/opencv_line_descriptor_pch_dephelp.dir/build.make modules/line_descriptor/CMakeFiles/opencv_line_descriptor_pch_dephelp.dir/opencv_line_descriptor_pch_dephelp.cxx.s .PHONY : opencv_line_descriptor_pch_dephelp.cxx.s +samples/compute_descriptors.o: samples/compute_descriptors.cpp.o +.PHONY : samples/compute_descriptors.o + +# target to build an object file +samples/compute_descriptors.cpp.o: + cd /home/ubisum/src/opencv && $(MAKE) -f modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/build.make modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/samples/compute_descriptors.cpp.o +.PHONY : samples/compute_descriptors.cpp.o + +samples/compute_descriptors.i: samples/compute_descriptors.cpp.i +.PHONY : samples/compute_descriptors.i + +# target to preprocess a source file +samples/compute_descriptors.cpp.i: + cd /home/ubisum/src/opencv && $(MAKE) -f modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/build.make modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/samples/compute_descriptors.cpp.i +.PHONY : samples/compute_descriptors.cpp.i + +samples/compute_descriptors.s: samples/compute_descriptors.cpp.s +.PHONY : samples/compute_descriptors.s + +# target to generate assembly for a file +samples/compute_descriptors.cpp.s: + cd /home/ubisum/src/opencv && $(MAKE) -f modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/build.make modules/line_descriptor/CMakeFiles/example_line_descriptor_compute_descriptors.dir/samples/compute_descriptors.cpp.s +.PHONY : samples/compute_descriptors.cpp.s + samples/lines_extraction.o: samples/lines_extraction.cpp.o .PHONY : samples/lines_extraction.o @@ -322,6 +360,7 @@ help: @echo "... clean" @echo "... depend" @echo "... edit_cache" + @echo "... example_line_descriptor_compute_descriptors" @echo "... example_line_descriptor_lines_extraction" @echo "... install" @echo "... install/local" @@ -334,6 +373,9 @@ help: @echo "... opencv_line_descriptor_pch_dephelp.o" @echo "... opencv_line_descriptor_pch_dephelp.i" @echo "... opencv_line_descriptor_pch_dephelp.s" + @echo "... samples/compute_descriptors.o" + @echo "... samples/compute_descriptors.i" + @echo "... samples/compute_descriptors.s" @echo "... samples/lines_extraction.o" @echo "... samples/lines_extraction.i" @echo "... samples/lines_extraction.s" diff --git a/modules/line_descriptor/cmake_install.cmake b/modules/line_descriptor/cmake_install.cmake index 3d2d4c588..1624a269e 100644 --- a/modules/line_descriptor/cmake_install.cmake +++ b/modules/line_descriptor/cmake_install.cmake @@ -12,7 +12,7 @@ IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") ELSE(BUILD_TYPE) - SET(CMAKE_INSTALL_CONFIG_NAME "Release") + SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo") ENDIF(BUILD_TYPE) MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) diff --git a/modules/line_descriptor/doc/line_descriptor.rst b/modules/line_descriptor/doc/line_descriptor.rst new file mode 100644 index 000000000..8bb6f07f8 --- /dev/null +++ b/modules/line_descriptor/doc/line_descriptor.rst @@ -0,0 +1,79 @@ +Binary descriptors for lines extracted from an image +==================================================== + +.. highlight:: cpp + + +Introduction +------------ + + +One of the most challenging activities in computer vision is the extraction of useful information from a given image. Such information, usually comes in the form of points that preserve some kind of property (for instance, they are scale-invariant) and are actually representative of input image. + +The goal of this module is seeking a new kind of representative information inside an image and providing the functionalities for its extraction and representation. In particular, differently from previous methods for detection of relevant elements inside an image, lines are extracted in place of points; a new class is defined ad hoc to summarize a line's properties, for reuse and plotting purposes. + + +A class to represent a line: KeyLine +------------------------------------ + +As aformentioned, it is been necessary to design a class that fully stores the information needed to characterize completely a line and plot it on image it was extracted from, when required. + +*KeyLine* class has been created for such goal; it is mainly inspired to Feature2d's KeyPoint class, since KeyLine shares some of *KeyPoint*'s fields, even if a part of them assumes a different meaning, when speaking about lines. +In particular: + +* the *class_id* field is used to gather lines extracted from different octaves which refer to same line inside original image (such lines and the one they represent in original image share the same *class_id* value) +* the *angle* field represents line's slope with respect to (positive) X axis +* the *pt* field represents line's midpoint +* the *response* field is computed as the ratio between the line's length and maximum between image's width and height +* the *size* field is the area of the smallest rectangle containing line + +Apart from fields inspired to KeyPoint class, KeyLines stores information about extremes of line in original image and in octave it was extracted from, about line's length and number of pixels it covers. Code relative to KeyLine class is reported in the following snippet: + +.. ocv:class:: KeyLine + +:: + + class CV_EXPORTS_W KeyLine + { + public: + /* orientation of the line */ + float angle; + + /* object ID, that can be used to cluster keylines by the line they represent */ + int class_id; + + /* octave (pyramid layer), from which the keyline has been extracted */ + int octave; + + /* coordinates of the middlepoint */ + Point pt; + + /* the response, by which the strongest keylines have been selected. + It's represented by the ratio between line's length and maximum between + image's width and height */ + float response; + + /* minimum area containing line */ + float size; + + /* lines's extremes in original image */ + float startPointX; + float startPointY; + float endPointX; + float endPointY; + + /* line's extremes in image it was extracted from */ + float sPointInOctaveX; + float sPointInOctaveY; + float ePointInOctaveX; + float ePointInOctaveY; + + /* the length of line */ + float lineLength; + + /* number of pixels covered by the line */ + unsigned int numOfPixels; + + /* constructor */ + KeyLine(){} + }; diff --git a/modules/line_descriptor/doc/line_descriptor.rst~ b/modules/line_descriptor/doc/line_descriptor.rst~ new file mode 100644 index 000000000..b998b4356 --- /dev/null +++ b/modules/line_descriptor/doc/line_descriptor.rst~ @@ -0,0 +1,79 @@ +Binary descriptors for lines extracted from an image +==================================================== + +.. highlight:: cpp + + +Introduction +------------ + + +One of the most challenging activities in computer vision is the extraction of useful information from a given image. Such information, usually comes in the form of points that preserve some kind of property (for instance, they are scale-invariant) and are actually representative of input image. + +The goal of this module is seeking a new kind of representative information inside an image and providing the functionalities for its extraction and representation. In particular, differently from previous methods for detection of relevant elements inside an image, lines are extracted in spite of points; a new class is defined ad hoc to summarize a line's properties, for reuse and plotting purposes. + + +A class to represent a line: KeyLine +------------------------------------ + +As aformentioned, it is been necessary to design a class that fully stores the information needed to characterize completely a line and plot it on image it was extracted from, when required. + +*KeyLine* class has been created for such goal; it is mainly inspired to Feature2d's KeyPoint class, since KeyLine shares some of *KeyPoint*'s fields, even if a part of them assumes a different meaning, when speaking about lines. +In particular: + +* the *class_id* field is used to gather lines extracted from different octaves which refer to same line inside original image (such lines and the one they represent in original image share the same *class_id* value) +* the *angle* field represents line's slope with respect to (positive) X axis +* the *pt* field represents line's midpoint +* the *response* field is computed as the ratio between the line's length and maximum between image's width and height +* the *size* field is the area of the smallest rectangle containing line + +Apart from fields inspired to KeyPoint class, KeyLines stores information about extremes of line in original image and in octave it was extracted from, about line's length and number of pixels it covers. Code relative to KeyLine class is reported in the following snippet: + +.. ocv:class:: KeyLine + +:: + + class CV_EXPORTS_W KeyLine + { + public: + /* orientation of the line */ + float angle; + + /* object ID, that can be used to cluster keylines by the line they represent */ + int class_id; + + /* octave (pyramid layer), from which the keyline has been extracted */ + int octave; + + /* coordinates of the middlepoint */ + Point pt; + + /* the response, by which the strongest keylines have been selected. + It's represented by the ratio between line's length and maximum between + image's width and height */ + float response; + + /* minimum area containing line */ + float size; + + /* lines's extremes in original image */ + float startPointX; + float startPointY; + float endPointX; + float endPointY; + + /* line's extremes in image it was extracted from */ + float sPointInOctaveX; + float sPointInOctaveY; + float ePointInOctaveX; + float ePointInOctaveY; + + /* the length of line */ + float lineLength; + + /* number of pixels covered by the line */ + unsigned int numOfPixels; + + /* constructor */ + KeyLine(){} + }; diff --git a/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp b/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp index 2637270ed..dfea685be 100644 --- a/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp +++ b/modules/line_descriptor/include/opencv2/line_descriptor/descriptor.hpp @@ -55,9 +55,29 @@ namespace cv { - class CV_EXPORTS_W KeyLine: public KeyPoint + class CV_EXPORTS_W KeyLine { public: + /* orientation of the line */ + float angle; + + /* object ID, that can be used to cluster keylines by the line they represent */ + int class_id; + + /* octave (pyramid layer), from which the keyline has been extracted */ + int octave; + + /* coordinates of the middlepoint */ + Point pt; + + /* the response, by which the strongest keylines have been selected. + It's represented by the ratio between line's length and maximum between + image's width and height */ + float response; + + /* minimum area containing line */ + float size; + /* lines's extremes in original image */ float startPointX; float startPointY; @@ -76,9 +96,11 @@ namespace cv /* number of pixels covered by the line */ unsigned int numOfPixels; + /* constructor */ + KeyLine(){} }; - class CV_EXPORTS_W BinaryDescriptor: public Feature2D + class CV_EXPORTS_W BinaryDescriptor: public Algorithm { public: @@ -91,9 +113,6 @@ namespace cv /* the NNDR threshold for line descriptor distance, default is 0.6 */ CV_PROP_RW float NNDRThreshold; - /* the size of Gaussian kernel: ksize X ksize, default value is 5 */ - CV_PROP_RW int ksize_; - /* the number of image octaves (default = 5) */ CV_PROP_RW int numOfOctave_; @@ -121,6 +140,8 @@ namespace cv /* constructors with smart pointers */ static Ptr createBinaryDescriptor(); static Ptr createBinaryDescriptor(Params parameters); + + /* destructor */ ~BinaryDescriptor(); /* read parameters from a FileNode object and store them (class function ) */ @@ -131,26 +152,22 @@ namespace cv /* requires line detection (only one image) */ CV_WRAP void detect( const Mat& image, - 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, + std::vector >& keypoints, const std::vector& masks=std::vector() ) const; /* requires descriptors computation (only one image) */ - CV_WRAP void compute( const Mat& image, - CV_OUT CV_IN_OUT std::vector& keypoints, + CV_WRAP void compute( const Mat& image, + CV_OUT CV_IN_OUT std::vector& keylines, CV_OUT Mat& descriptors ) const; /* requires descriptors computation (more than one image) */ void compute( const std::vector& images, - std::vector >& keypoints, + std::vector >& keylines, std::vector& descriptors ) const; /*return descriptor size */ @@ -168,7 +185,7 @@ namespace cv /* definition of operator (), as required by Feature2D */ CV_WRAP_AS(detectAndCompute) virtual void operator()( InputArray image, InputArray mask, - CV_OUT std::vector& keypoints, + CV_OUT std::vector& keylines, OutputArray descriptors, bool useProvidedKeypoints=false ) const; @@ -176,17 +193,13 @@ 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, + std::vector& keylines, const Mat& mask=Mat() ) const; /* implementation of descriptors' computation */ virtual void computeImpl( const Mat& image, - std::vector& keypoints, + std::vector& keylines, Mat& descriptors ) const; /* function inherited by Algorithm */ 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 ${OpenCV_LIBS}) diff --git a/modules/line_descriptor/samples/bak.txt b/modules/line_descriptor/samples/bak.txt new file mode 100644 index 000000000..0f3bfe7d8 --- /dev/null +++ b/modules/line_descriptor/samples/bak.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8) +project(line_descriptor) +find_package(OpenCV REQUIRED) + +set(SOURCES lines_extraction.cpp compute_descriptors.cpp ../src/BinaryDescriptor.cpp) + +include_directories(${OpenCV_INCLUDE_DIRS}) +add_executable(lines_extraction compute_descriptors ${SOURCES} ${HEADERS}) +target_link_libraries(lines_extraction compute_descriptors ${OpenCV_LIBS}) diff --git a/modules/line_descriptor/samples/compute_descriptors.cpp b/modules/line_descriptor/samples/compute_descriptors.cpp new file mode 100644 index 000000000..28df797d3 --- /dev/null +++ b/modules/line_descriptor/samples/compute_descriptors.cpp @@ -0,0 +1,85 @@ +#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 }" +}; + +static void help() +{ + cout << "\nThis example shows the functionalities of lines extraction " << + "and descriptors computation furnished by BinaryDescriptor class\n" << + "Please, run this sample using a command in the form\n" << + "./example_line_descriptor_compute_descriptors " << endl; +} + +inline void writeMat(cv::Mat m, std::string name, int n) +{ + std::stringstream ss; + std::string s; + ss << n; + ss >> s; + std::string fileNameConf = name + s; + cv::FileStorage fsConf(fileNameConf, cv::FileStorage::WRITE); + fsConf << "m" << m; + + fsConf.release(); +} + +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 random 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 default parameters */ + Ptr bd = BinaryDescriptor::createBinaryDescriptor(); + + /* compute lines */ + std::vector keylines; + bd->detect(imageMat, keylines, mask); + + std::vector octave0; + for(size_t i = 0; icompute(imageMat, octave0, descriptors); + writeMat(descriptors, "old_code", 0); + +} diff --git a/modules/line_descriptor/samples/lines_extraction.cpp b/modules/line_descriptor/samples/lines_extraction.cpp index a71bc44cb..fe4977cde 100644 --- a/modules/line_descriptor/samples/lines_extraction.cpp +++ b/modules/line_descriptor/samples/lines_extraction.cpp @@ -1,6 +1,5 @@ #include - #include "opencv2/core/utility.hpp" #include "opencv2/core/private.hpp" #include @@ -18,6 +17,14 @@ static const char* keys = }; +static void help() +{ + cout << "\nThis example shows the functionalities of lines extraction " << + "furnished by BinaryDescriptor class\n" << + "Please, run this sample using a command in the form\n" << + "./example_line_descriptor_lines_extraction " << endl; +} + int main( int argc, char** argv ) { /* get parameters from comand line */ @@ -26,7 +33,7 @@ int main( int argc, char** argv ) if(image_path.empty()) { - // help(); + help(); return -1; } @@ -49,7 +56,7 @@ int main( int argc, char** argv ) vector lines; /* extract lines */ - bd->detectKL(imageMat, lines, mask); + bd->detect(imageMat, lines, mask); /* draw lines extracted from octave 0 */ cv::Mat output = imageMat.clone(); @@ -70,9 +77,6 @@ int main( int argc, char** argv ) /* draw line */ line(output, pt1, pt2, Scalar(B,G,R), 5); - std::cout << "Dati linea" << " " << kl.startPointX << " " << - kl.startPointY << " " << kl.endPointX << " " << - kl.endPointY << " " << kl.lineLength << std::endl; } } diff --git a/modules/line_descriptor/src/BinaryDescriptor.cpp b/modules/line_descriptor/src/BinaryDescriptor.cpp index 1d7053f68..f32155152 100644 --- a/modules/line_descriptor/src/BinaryDescriptor.cpp +++ b/modules/line_descriptor/src/BinaryDescriptor.cpp @@ -51,13 +51,11 @@ static const int combinations [32][2] = {{0,1},{0,2},{0,3},{0,4},{0,5},{0,6},{1, {2,8},{3,4},{3,5},{3,6},{3,7},{3,8},{4,5},{4,6}, {4,7},{4,8},{5,6},{5,7},{5,8},{6,7},{6,8},{7,8}}; - /* return default parameters */ BinaryDescriptor::Params::Params() { LowestThreshold = 0.35; NNDRThreshold = 0.6; - ksize_ = 5; numOfOctave_ = 1; numOfBand_ = 9; widthOfBand_ = 7; @@ -70,7 +68,6 @@ void BinaryDescriptor::Params::read(const cv::FileNode& fn ) { LowestThreshold = fn["LowestThreshold"]; NNDRThreshold = fn["NNDRThreshold"]; - ksize_ = fn["ksize_"]; numOfOctave_ = fn["numOfOctave_"]; numOfBand_ = fn["numOfBand_"]; widthOfBand_ = fn["widthOfBand_"]; @@ -82,7 +79,6 @@ void BinaryDescriptor::Params::write(cv::FileStorage& fs) const { fs << "LowestThreshold" << LowestThreshold; fs << "NNDRThreshold" << NNDRThreshold; - fs << "ksize_" << ksize_; fs << "numOfOctave_" << numOfOctave_; fs << "numOfBand_" << numOfBand_; fs << "widthOfBand_" << widthOfBand_; @@ -140,7 +136,7 @@ BinaryDescriptor::BinaryDescriptor(const BinaryDescriptor::Params ¶meters) : /* definition of operator () inherited from Feature2D class */ void BinaryDescriptor::operator()( InputArray image, InputArray mask, - CV_OUT std::vector& keypoints, + CV_OUT std::vector& keylines, OutputArray descriptors, bool useProvidedKeypoints) const { @@ -153,17 +149,17 @@ void BinaryDescriptor::operator()( InputArray image, maskMat = mask.getMat(); /* initialize output matrix */ - descriptors.create(Size(32, keypoints.size()), CV_8UC1); + descriptors.create(Size(32, keylines.size()), CV_8UC1); /* store reference to output matrix */ descrMat = descriptors.getMat(); /* require drawing KeyLines detection if demanded */ if(!useProvidedKeypoints) - detectImpl(imageMat, keypoints, maskMat); + detectImpl(imageMat, keylines, maskMat); /* compute descriptors */ - computeImpl(imageMat, keypoints, descrMat); + computeImpl(imageMat, keylines, descrMat); } BinaryDescriptor::~BinaryDescriptor(){} @@ -217,7 +213,7 @@ static inline int get2Pow(int i) { } } -/* conversion of an LBD descriptor to its binary representation */ +/* utility function for conversion of an LBD descriptor to its binary representation */ unsigned char BinaryDescriptor::binaryConversion(float* f1, float* f2) { uchar result = 0; @@ -244,7 +240,7 @@ void BinaryDescriptor::getLineParameters(cv::Vec4i& line_extremes, cv::Vec3i& li { lineParams[0] = 1; lineParams[1] = 0; - lineParams[2] = x1 /* or -x2 */; + lineParams[2] = x1 /* or x2 */; } /* line is parallel to X axis */ @@ -252,7 +248,7 @@ void BinaryDescriptor::getLineParameters(cv::Vec4i& line_extremes, cv::Vec3i& li { lineParams[0] = 0; lineParams[1] = 1; - lineParams[2] = y1 /* or -y2 */; + lineParams[2] = y1 /* or y2 */; } /* line is not parallel to any axis */ @@ -276,16 +272,7 @@ float BinaryDescriptor::getLineDirection(cv::Vec3i &lineParams) /* line is not parallel to any axis */ else - { - /* compute angular coefficient */ - float m = -lineParams[0]/lineParams[1]; - - if(m>0) - return atan(m); - - else - return -atan(m); - } + return atan2(-lineParams[0], lineParams[1]); } @@ -298,6 +285,7 @@ void BinaryDescriptor::computeGaussianPyramid(const Mat& image) /* insert input image into pyramid */ cv::Mat currentMat = image.clone(); + cv::GaussianBlur(currentMat, currentMat, cv::Size(5, 5), 1); octaveImages.push_back(currentMat); images_sizes.push_back(currentMat.size()); @@ -305,48 +293,37 @@ void BinaryDescriptor::computeGaussianPyramid(const Mat& image) for(int pyrCounter = 1; pyrCounter& keypoints, - const Mat& mask) -{ - /* invoke KeyLines detection */ - detectImpl(image, keypoints, mask); - -} - -void BinaryDescriptor::detectKL( const Mat& image, - CV_OUT std::vector& keypoints, + CV_OUT std::vector& keylines, const Mat& mask ) { - detectImplKL(image, keypoints, mask); + detectImpl(image, keylines, mask); } /* requires line detection (more than one image) */ void BinaryDescriptor::detect( const std::vector& images, - std::vector >& keypoints, + std::vector >& keylines, const std::vector& masks ) const { /* detect lines from each image */ for(size_t counter = 0; counter& keypoints, +void BinaryDescriptor::detectImpl( const Mat& image, + std::vector& keylines, const Mat& mask ) const { @@ -367,7 +344,6 @@ void BinaryDescriptor::detectImplKL( const Mat& image, ScaleLines sl; bn->OctaveKeyLines(sl); - /* fill KeyLines vector */ for(int i = 0; i<(int)sl.size(); i++) { @@ -401,121 +377,57 @@ void BinaryDescriptor::detectImplKL( const Mat& image, (osl.endPointY + osl.startPointY)/2); /* store KeyLine */ - keypoints.push_back(kl); + keylines.push_back(kl); } } -} -void BinaryDescriptor::detectImpl( 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[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); -// } + for(size_t keyCounter = 0; keyCounter(kl.startPointX, kl.startPointY) == 0 && + mask.at(kl.endPointX, kl.endPointY) == 0) + keylines.erase(keylines.begin() + keyCounter); + } } + /* requires descriptors computation (only one image) */ void BinaryDescriptor::compute( const Mat& image, - CV_OUT CV_IN_OUT std::vector& keypoints, - CV_OUT Mat& descriptors ) const + CV_OUT CV_IN_OUT std::vector& keylines, + CV_OUT Mat& descriptors ) const { - computeImpl(image, keypoints, descriptors); + computeImpl(image, keylines, descriptors); } + /* requires descriptors computation (more than one image) */ void BinaryDescriptor::compute( const std::vector& images, - std::vector >& keypoints, + std::vector >& keylines, std::vector& descriptors ) const { for(size_t i = 0; i& keypoints, - Mat& descriptors ) const + std::vector& keylines, + Mat& descriptors ) const { - - /*check whether image depth is different from 0 */ + /*check whether image's depth is different from 0 */ if(image.depth() != 0) { - std::cout << "Warning, depth image!= 0" << std::endl; + std::cout << "Error, depth of image != 0" << std::endl; CV_Assert(false); } /* keypoints list can't be empty */ - if(keypoints.size() == 0) + if(keylines.size() == 0) { std::cout << "Error: keypoint list is empty" << std::endl; return; @@ -523,10 +435,10 @@ void BinaryDescriptor::computeImpl( const Mat& image, /* get maximum class_id */ int numLines = 0; - for(size_t l = 0; l numLines) - numLines = keypoints[l].class_id; + if(keylines[l].class_id > numLines) + numLines = keylines[l].class_id; } /* create a ScaleLines object */ @@ -540,42 +452,34 @@ void BinaryDescriptor::computeImpl( const Mat& image, std::map, int> correspondences; /* fill ScaleLines object */ - for(size_t slCounter = 0; slCounter(kp); + /* get a KeyLine object and create a new line */ + KeyLine kl = keylines[slCounter]; OctaveSingleLine osl; /* insert data in newly created line */ - osl.startPointX = (*kl).startPointX; - osl.startPointY = (*kl).startPointY; - osl.endPointX = (*kl).endPointX; - osl.endPointY = (*kl).endPointY; - osl.sPointInOctaveX = (*kl).sPointInOctaveX; - osl.sPointInOctaveY = (*kl).sPointInOctaveY; - osl.ePointInOctaveX = (*kl).ePointInOctaveX; - osl.ePointInOctaveY = (*kl).ePointInOctaveY; - osl.lineLength = (*kl).lineLength; - osl.numOfPixels = (*kl).numOfPixels; + osl.startPointX = kl.startPointX; + osl.startPointY = kl.startPointY; + osl.endPointX = kl.endPointX; + osl.endPointY = kl.endPointY; + osl.sPointInOctaveX = kl.sPointInOctaveX; + osl.sPointInOctaveY = kl.sPointInOctaveY; + osl.ePointInOctaveX = kl.ePointInOctaveX; + osl.ePointInOctaveY = kl.ePointInOctaveY; + osl.lineLength = kl.lineLength; + osl.numOfPixels = kl.numOfPixels; + osl.salience = kl.response; - osl.direction = (*kl).angle; - osl.octaveCount = (*kl).octave; + osl.direction = kl.angle; + osl.octaveCount = kl.octave; /* store new line */ - sl[(*kl).class_id][(*kl).octave] = osl; + sl[kl.class_id][kl.octave] = osl; /* update map */ - int id = (*kl).class_id; - int oct = (*kl).octave; + int id = kl.class_id; + int oct = kl.octave; correspondences.insert(std::pair, int>(std::pair(id, oct), slCounter)); } @@ -605,6 +509,9 @@ void BinaryDescriptor::computeImpl( const Mat& image, for(size_t sobelCnt = 0; sobelCntdxImg_vector[sobelCnt].create(images_sizes[sobelCnt].height, images_sizes[sobelCnt].width, CV_16SC1); + bn->dyImg_vector[sobelCnt].create(images_sizes[sobelCnt].height, images_sizes[sobelCnt].width, CV_16SC1); + cv::Sobel( octaveImages[sobelCnt], bn->dxImg_vector[sobelCnt], CV_16SC1, 1, 0, 3); cv::Sobel( octaveImages[sobelCnt], bn->dyImg_vector[sobelCnt], CV_16SC1, 0, 1, 3); } @@ -613,7 +520,7 @@ void BinaryDescriptor::computeImpl( const Mat& image, bn->computeLBD(sl); /* resize output matrix */ - descriptors = cv::Mat(keypoints.size(), 32, CV_8UC1); + descriptors = cv::Mat(keylines.size(), 32, CV_8UC1); /* fill output matrix with descriptors */ for(size_t k = 0; k0){ + if(gDL>0) + { pgdLRowSum += gDL; - }else{ + } + + else + { ngdLRowSum -= gDL; } - if(gDO>0){ + + if(gDO>0) + { pgdORowSum += gDO; - }else{ + } + + else + { ngdORowSum -= gDO; } + sCorX +=dL[0]; sCorY +=dL[1]; /* gDLMat[hID][wID] = gDL; */ @@ -1129,7 +1046,7 @@ int BinaryDescriptor::computeLBD(ScaleLines &keyLines) /* compute {g_dL |g_dL>0 }, {g_dL |g_dL<0 }, {g_dO |g_dO>0 }, {g_dO |g_dO<0 } of each band in the line support region - first, current row belong to current band */ + first, current row belongs to current band */ bandID = hID/params.widthOfBand_; coefInGaussion = gaussCoefL_[hID%params.widthOfBand_+params.widthOfBand_]; pgdLBandSum[bandID] += coefInGaussion * pgdLRowSum; @@ -1156,6 +1073,7 @@ int BinaryDescriptor::computeLBD(ScaleLines &keyLines) pgdO2BandSum[bandID] += coefInGaussion * coefInGaussion * pgdO2RowSum; ngdO2BandSum[bandID] += coefInGaussion * coefInGaussion * ngdO2RowSum; } + bandID = bandID+2; if(bandID