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Added needed header, changed macro name.

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This commit is contained in:
Daniel Angelov
2013-07-14 12:56:22 +03:00
parent 3350533f48
commit 22c8010b2d
4 changed files with 232 additions and 234 deletions
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143
modules/imgproc/src/lsd.cpp
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@@ -46,25 +46,25 @@
using namespace cv;
/////////////////////////////////////////////////////////////////////////////////////////
// Default LSD parameters
// Default LSD parameters
// SIGMA_SCALE 0.6 - Sigma for Gaussian filter is computed as sigma = sigma_scale/scale.
// QUANT 2.0 - Bound to the quantization error on the gradient norm.
// QUANT 2.0 - Bound to the quantization error on the gradient norm.
// ANG_TH 22.5 - Gradient angle tolerance in degrees.
// LOG_EPS 0.0 - Detection threshold: -log10(NFA) > log_eps
// DENSITY_TH 0.7 - Minimal density of region points in rectangle.
// N_BINS 1024 - Number of bins in pseudo-ordering of gradient modulus.
// PI
// PI
#ifndef M_PI
#define M_PI CV_PI // 3.14159265358979323846
#define M_PI CV_PI // 3.14159265358979323846
#endif
#define M_3_2_PI (3 * CV_PI) / 2 // 4.71238898038 // 3/2 pi
#define M_2__PI 2 * CV_PI // 6.28318530718 // 2 pi
#define M_3_2_PI (3 * CV_PI) / 2 // 4.71238898038 // 3/2 pi
#define M_2__PI 2 * CV_PI // 6.28318530718 // 2 pi
#define NOTDEF double(-1024.0) // Label for pixels with undefined gradient.
#define NOTDEF double(-1024.0) // Label for pixels with undefined gradient.
#define NOTUSED 0 // Label for pixels not used in yet.
#define USED 1 // Label for pixels already used in detection.
#define NOTUSED 0 // Label for pixels not used in yet.
#define USED 1 // Label for pixels already used in detection.
#define RELATIVE_ERROR_FACTOR 100.0
@@ -127,7 +127,7 @@ inline bool AsmallerB_XoverY(const edge& a, const edge& b)
else return a.p.x < b.p.x;
}
/**
/**
* Computes the natural logarithm of the absolute value of
* the gamma function of x using Windschitl method.
* See http://www.rskey.org/gamma.htm
@@ -138,7 +138,7 @@ inline double log_gamma_windschitl(const double& x)
+ 0.5*x*log(x*sinh(1/x) + 1/(810.0*pow(x, 6.0)));
}
/**
/**
* Computes the natural logarithm of the absolute value of
* the gamma function of x using the Lanczos approximation.
* See http://www.rskey.org/gamma.htm
@@ -159,8 +159,8 @@ inline double log_gamma_lanczos(const double& x)
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////
LSD::LSD(lsd_refine_lvl _refine, double _scale, double _sigma_scale, double _quant,
double _ang_th, double _log_eps, double _density_th, int _n_bins)
LSD::LSD(lsd_refine_lvl _refine, double _scale, double _sigma_scale, double _quant,
double _ang_th, double _log_eps, double _density_th, int _n_bins)
:SCALE(_scale), doRefine(_refine), SIGMA_SCALE(_sigma_scale), QUANT(_quant),
ANG_TH(_ang_th), LOG_EPS(_log_eps), DENSITY_TH(_density_th), N_BINS(_n_bins)
{
@@ -197,7 +197,7 @@ void LSD::detect(const cv::InputArray _image, cv::OutputArray _lines, cv::Rect _
flsd(lines, w, p, n);
Mat(lines).copyTo(_lines);
if (w) Mat(*w).copyTo(_width);
if (w) Mat(*w).copyTo(_width);
if (p) Mat(*p).copyTo(_prec);
if (n) Mat(*n).copyTo(_nfa);
@@ -206,15 +206,15 @@ void LSD::detect(const cv::InputArray _image, cv::OutputArray _lines, cv::Rect _
delete n;
}
void LSD::flsd(std::vector<Vec4i>& lines,
std::vector<double>* widths, std::vector<double>* precisions,
void LSD::flsd(std::vector<Vec4i>& lines,
std::vector<double>* widths, std::vector<double>* precisions,
std::vector<double>* nfas)
{
// Angle tolerance
const double prec = M_PI * ANG_TH / 180;
const double p = ANG_TH / 180;
const double rho = QUANT / sin(prec); // gradient magnitude threshold
std::vector<coorlist> list;
if (SCALE != 1)
{
@@ -222,7 +222,7 @@ void LSD::flsd(std::vector<Vec4i>& lines,
const double sigma = (SCALE < 1)?(SIGMA_SCALE / SCALE):(SIGMA_SCALE);
const double sprec = 3;
const unsigned int h = (unsigned int)(ceil(sigma * sqrt(2 * sprec * log(10.0))));
Size ksize(1 + 2 * h, 1 + 2 * h); // kernel size
Size ksize(1 + 2 * h, 1 + 2 * h); // kernel size
GaussianBlur(image, gaussian_img, ksize, sigma);
// Scale image to needed size
resize(gaussian_img, scaled_image, Size(), SCALE, SCALE);
@@ -235,14 +235,14 @@ void LSD::flsd(std::vector<Vec4i>& lines,
}
LOG_NT = 5 * (log10(double(img_width)) + log10(double(img_height))) / 2 + log10(11.0);
const int min_reg_size = int(-LOG_NT/log10(p)); // minimal number of points in region that can give a meaningful event
const int min_reg_size = int(-LOG_NT/log10(p)); // minimal number of points in region that can give a meaningful event
// // Initialize region only when needed
// Mat region = Mat::zeros(scaled_image.size(), CV_8UC1);
used = Mat_<uchar>::zeros(scaled_image.size()); // zeros = NOTUSED
std::vector<RegionPoint> reg(img_width * img_height);
// Search for line segments
// Search for line segments
unsigned int ls_count = 0;
unsigned int list_size = list.size();
for(unsigned int i = 0; i < list_size; ++i)
@@ -253,10 +253,10 @@ void LSD::flsd(std::vector<Vec4i>& lines,
int reg_size;
double reg_angle;
region_grow(list[i].p, reg, reg_size, reg_angle, prec);
// Ignore small regions
if(reg_size < min_reg_size) { continue; }
// Construct rectangular approximation for the region
rect rec;
region2rect(reg, reg_size, reg_angle, prec, p, rec);
@@ -288,7 +288,7 @@ void LSD::flsd(std::vector<Vec4i>& lines,
rec.x2 /= SCALE; rec.y2 /= SCALE;
rec.width /= SCALE;
}
if(roi.area()) // if a roi has been given by the user, adjust coordinates
{
rec.x1 += roix;
@@ -308,11 +308,8 @@ void LSD::flsd(std::vector<Vec4i>& lines,
// {
// region.data[reg[i].x + reg[i].y * width] = ls_count;
// }
}
}
}
void LSD::ll_angle(const double& threshold, const unsigned int& n_bins, std::vector<coorlist>& list)
@@ -320,21 +317,21 @@ void LSD::ll_angle(const double& threshold, const unsigned int& n_bins, std::vec
//Initialize data
angles = cv::Mat_<double>(scaled_image.size());
modgrad = cv::Mat_<double>(scaled_image.size());
angles_data = angles.ptr<double>(0);
modgrad_data = modgrad.ptr<double>(0);
scaled_image_data = scaled_image.ptr<double>(0);
img_width = scaled_image.cols;
img_width = scaled_image.cols;
img_height = scaled_image.rows;
// Undefined the down and right boundaries
// Undefined the down and right boundaries
angles.row(img_height - 1).setTo(NOTDEF);
angles.col(img_width - 1).setTo(NOTDEF);
// Computing gradient for remaining pixels
CV_Assert(scaled_image.isContinuous() &&
modgrad.isContinuous() &&
CV_Assert(scaled_image.isContinuous() &&
modgrad.isContinuous() &&
angles.isContinuous()); // Accessing image data linearly
double max_grad = -1;
@@ -344,13 +341,13 @@ void LSD::ll_angle(const double& threshold, const unsigned int& n_bins, std::vec
{
double DA = scaled_image_data[addr + img_width + 1] - scaled_image_data[addr];
double BC = scaled_image_data[addr + 1] - scaled_image_data[addr + img_width];
double gx = DA + BC; // gradient x component
double gy = DA - BC; // gradient y component
double norm = std::sqrt((gx * gx + gy * gy) / 4); // gradient norm
double gx = DA + BC; // gradient x component
double gy = DA - BC; // gradient y component
double norm = std::sqrt((gx * gx + gy * gy) / 4); // gradient norm
modgrad_data[addr] = norm; // store gradient
if (norm <= threshold) // norm too small, gradient no defined
if (norm <= threshold) // norm too small, gradient no defined
{
angles_data[addr] = NOTDEF;
}
@@ -362,7 +359,7 @@ void LSD::ll_angle(const double& threshold, const unsigned int& n_bins, std::vec
}
}
// Compute histogram of gradient values
list = std::vector<coorlist>(img_width * img_height);
std::vector<coorlist*> range_s(n_bins);
@@ -375,7 +372,7 @@ void LSD::ll_angle(const double& threshold, const unsigned int& n_bins, std::vec
const double* norm = modgrad_data + y * img_width;
for(int x = 0; x < img_width - 1; ++x, ++norm)
{
// Store the point in the right bin according to its norm
// Store the point in the right bin according to its norm
int i = int((*norm) * bin_coef);
if(!range_e[i])
{
@@ -480,7 +477,7 @@ void LSD::region2rect(const std::vector<RegionPoint>& reg, const int reg_size, c
// Weighted sum must differ from 0
CV_Assert(sum > 0);
x /= sum;
y /= sum;
@@ -495,7 +492,7 @@ void LSD::region2rect(const std::vector<RegionPoint>& reg, const int reg_size, c
{
double regdx = double(reg[i].x) - x;
double regdy = double(reg[i].y) - y;
double l = regdx * dx + regdy * dy;
double w = -regdx * dy + regdy * dx;
@@ -530,10 +527,10 @@ double LSD::get_theta(const std::vector<RegionPoint>& reg, const int& reg_size,
double Iyy = 0.0;
double Ixy = 0.0;
// Compute inertia matrix
// Compute inertia matrix
for(int i = 0; i < reg_size; ++i)
{
const double& regx = reg[i].x;
const double& regx = reg[i].x;
const double& regy = reg[i].y;
const double& weight = reg[i].modgrad;
double dx = regx - x;
@@ -554,7 +551,7 @@ double LSD::get_theta(const std::vector<RegionPoint>& reg, const int& reg_size,
cv::fastAtan2(lambda - Ixx, Ixy):cv::fastAtan2(Ixy, lambda - Iyy); // in degs
theta *= DEG_TO_RADS;
// Correct angle by 180 deg if necessary
// Correct angle by 180 deg if necessary
if(angle_diff(theta, reg_angle) > prec) { theta += M_PI; }
return theta;
@@ -588,7 +585,7 @@ bool LSD::refine(std::vector<RegionPoint>& reg, int& reg_size, double reg_angle,
}
double mean_angle = sum / double(n);
// 2 * standard deviation
double tau = 2.0 * sqrt((s_sum - 2.0 * mean_angle * sum) / double(n) + mean_angle * mean_angle);
double tau = 2.0 * sqrt((s_sum - 2.0 * mean_angle * sum) / double(n) + mean_angle * mean_angle);
// Try new region
region_grow(Point(reg[0].x, reg[0].y), reg, reg_size, reg_angle, tau);
@@ -598,8 +595,8 @@ bool LSD::refine(std::vector<RegionPoint>& reg, int& reg_size, double reg_angle,
region2rect(reg, reg_size, reg_angle, prec, p, rec);
density = double(reg_size) / (dist(rec.x1, rec.y1, rec.x2, rec.y2) * rec.width);
if (density < density_th)
{
if (density < density_th)
{
return reduce_region_radius(reg, reg_size, reg_angle, prec, p, rec, density, density_th);
}
else
@@ -621,22 +618,22 @@ bool LSD::reduce_region_radius(std::vector<RegionPoint>& reg, int& reg_size, dou
while(density < density_th)
{
radSq *= 0.75*0.75; // Reduce region's radius to 75% of its value
// Remove points from the region and update 'used' map
// Remove points from the region and update 'used' map
for(int i = 0; i < reg_size; ++i)
{
if(distSq(xc, yc, double(reg[i].x), double(reg[i].y)) > radSq)
{
// Remove point from the region
// Remove point from the region
*(reg[i].used) = NOTUSED;
std::swap(reg[i], reg[reg_size - 1]);
--reg_size;
--i; // To avoid skipping one point
--i; // To avoid skipping one point
}
}
if(reg_size < 2) { return false; }
// Re-compute rectangle
// Re-compute rectangle
region2rect(reg, reg_size ,reg_angle, prec, p, rec);
// Re-compute region points density
@@ -687,7 +684,7 @@ double LSD::rect_improve(rect& rec) const
}
}
if(log_nfa > LOG_EPS) return log_nfa;
// Try to reduce one side of rectangle
r = rect(rec);
for(unsigned int n = 0; n < 5; ++n)
@@ -765,9 +762,9 @@ double LSD::rect_nfa(const rect& rec) const
ordered_x[1].p.x = rec.x2 - dyhw; ordered_x[1].p.y = rec.y2 + dxhw; ordered_x[1].taken = false;
ordered_x[2].p.x = rec.x2 + dyhw; ordered_x[2].p.y = rec.y2 - dxhw; ordered_x[2].taken = false;
ordered_x[3].p.x = rec.x1 + dyhw; ordered_x[3].p.y = rec.y1 - dxhw; ordered_x[3].taken = false;
std::sort(ordered_x.begin(), ordered_x.end(), AsmallerB_XoverY);
// Find min y. And mark as taken. find max y.
for(unsigned int i = 1; i < 4; ++i)
{
@@ -782,7 +779,7 @@ double LSD::rect_nfa(const rect& rec) const
{
if(!ordered_x[i].taken)
{
if(!leftmost) // if uninitialized
if(!leftmost) // if uninitialized
{
leftmost = &ordered_x[i];
}
@@ -800,7 +797,7 @@ double LSD::rect_nfa(const rect& rec) const
{
if(!ordered_x[i].taken)
{
if(!rightmost) // if uninitialized
if(!rightmost) // if uninitialized
{
rightmost = &ordered_x[i];
}
@@ -818,7 +815,7 @@ double LSD::rect_nfa(const rect& rec) const
{
if(!ordered_x[i].taken)
{
if(!tailp) // if uninitialized
if(!tailp) // if uninitialized
{
tailp = &ordered_x[i];
}
@@ -830,20 +827,20 @@ double LSD::rect_nfa(const rect& rec) const
}
tailp->taken = true;
double flstep = (min_y->p.y != leftmost->p.y) ?
double flstep = (min_y->p.y != leftmost->p.y) ?
(min_y->p.x - leftmost->p.x) / (min_y->p.y - leftmost->p.y) : 0; //first left step
double slstep = (leftmost->p.y != tailp->p.x) ?
double slstep = (leftmost->p.y != tailp->p.x) ?
(leftmost->p.x - tailp->p.x) / (leftmost->p.y - tailp->p.x) : 0; //second left step
double frstep = (min_y->p.y != rightmost->p.y) ?
double frstep = (min_y->p.y != rightmost->p.y) ?
(min_y->p.x - rightmost->p.x) / (min_y->p.y - rightmost->p.y) : 0; //first right step
double srstep = (rightmost->p.y != tailp->p.x) ?
double srstep = (rightmost->p.y != tailp->p.x) ?
(rightmost->p.x - tailp->p.x) / (rightmost->p.y - tailp->p.x) : 0; //second right step
double lstep = flstep, rstep = frstep;
int left_x = min_y->p.x, right_x = min_y->p.x;
int left_x = min_y->p.x, right_x = min_y->p.x;
// Loop around all points in the region and count those that are aligned.
int min_iter = std::max(min_y->p.y, 0);
int max_iter = std::min(max_y->p.y, img_height - 1);
@@ -872,7 +869,7 @@ double LSD::rect_nfa(const rect& rec) const
double LSD::nfa(const int& n, const int& k, const double& p) const
{
// Trivial cases
if(n == 0 || k == 0) { return -LOG_NT; }
if(n == 0 || k == 0) { return -LOG_NT; }
if(n == k) { return -LOG_NT - double(n) * log10(p); }
double p_term = p / (1 - p);
@@ -882,7 +879,7 @@ double LSD::nfa(const int& n, const int& k, const double& p) const
+ double(k) * log(p) + double(n-k) * log(1.0 - p);
double term = exp(log1term);
if(double_equal(term, 0))
if(double_equal(term, 0))
{
if(k > n * p) return -log1term / M_LN10 - LOG_NT;
else return -LOG_NT;
@@ -913,7 +910,7 @@ inline bool LSD::isAligned(const int& address, const double& theta, const double
const double& a = angles_data[address];
if(a == NOTDEF) { return false; }
// It is assumed that 'theta' and 'a' are in the range [-pi,pi]
// It is assumed that 'theta' and 'a' are in the range [-pi,pi]
double n_theta = theta - a;
if(n_theta < 0) { n_theta = -n_theta; }
if(n_theta > M_3_2_PI)
@@ -939,7 +936,7 @@ void LSD::drawSegments(cv::Mat& image, const std::vector<cv::Vec4i>& lines)
{
cv::cvtColor(image, gray, CV_BGR2GRAY);
}
// Create a 3 channel image in order to draw colored lines
std::vector<Mat> planes;
planes.push_back(gray);
@@ -991,10 +988,10 @@ int LSD::compareSegments(const cv::Size& size, const std::vector<cv::Vec4i>& lin
Mat Ig;
if (image->channels() == 1)
{
cv::cvtColor(*image, *image, CV_GRAY2BGR);
cv::cvtColor(*image, *image, CV_GRAY2BGR);
}
CV_Assert(image->isContinuous() && I1.isContinuous() && I2.isContinuous());
for (unsigned int i = 0; i < I1.total(); ++i)
{
uchar i1 = I1.data[i];