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EDLineDetector.cpp
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EDLineDetector.cpp
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/*IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
By downloading, copying, installing or using the software you agree to this license.
If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
Copyright (C) 2011-2012, Lilian Zhang, all rights reserved.
Copyright (C) 2013, Manuele Tamburrano, Stefano Fabri, all rights reserved.
Third party copyrights are property of their respective owners.
To extract edge and lines, this library implements the EDLines Algorithm and the Edge Drawing detector:
http://www.sciencedirect.com/science/article/pii/S0167865511001772
http://www.sciencedirect.com/science/article/pii/S1047320312000831
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* The name of the copyright holders may not be used to endorse or promote products
derived from this software without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are disclaimed.
In no event shall the Intel Corporation or contributors be liable for any direct,
indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
#include "EDLineDetector.hh"
#define Horizontal 255//if |dx|<|dy|;
#define Vertical 0//if |dy|<=|dx|;
#define UpDir 1
#define RightDir 2
#define DownDir 3
#define LeftDir 4
#define TryTime 6
#define SkipEdgePoint 2
//#define DEBUGEdgeDrawing
//#define DEBUGEDLine
using namespace std;
EDLineDetector::EDLineDetector()
{
// cout<<"Call EDLineDetector constructor function"<<endl;
//set parameters for line segment detection
ksize_ = 5;
sigma_ = 1.0;
gradienThreshold_ = 80; // ***** ORIGINAL WAS 25
anchorThreshold_ = 2;//8
scanIntervals_ = 2;//2
minLineLen_ = 15;
lineFitErrThreshold_ = 1.4;
InitEDLine_();
}
EDLineDetector::EDLineDetector(EDLineParam param)
{
//set parameters for line segment detection
ksize_ = param.ksize;
sigma_ = param.sigma;
gradienThreshold_ = param.gradientThreshold;
anchorThreshold_ = param.anchorThreshold;
scanIntervals_ = param.scanIntervals;
minLineLen_ = param.minLineLen;
lineFitErrThreshold_ = param.lineFitErrThreshold;
InitEDLine_();
}
void EDLineDetector::InitEDLine_()
{
bValidate_ = true;
ATA = cv::Mat_<int>(2,2);
ATV = cv::Mat_<int>(1,2);
tempMatLineFit = cv::Mat_<int>(2,2);
tempVecLineFit = cv::Mat_<int>(1,2);
fitMatT = cv::Mat_<int>(2,minLineLen_);
fitVec = cv::Mat_<int>(1,minLineLen_);
for(int i=0; i<minLineLen_; i++){
fitMatT[1][i] = 1;
}
dxImg_.create( 1, 1, CV_16SC1 );
dyImg_.create( 1, 1, CV_16SC1 );
gImgWO_.create( 1, 1, CV_8SC1 );
pFirstPartEdgeX_ = NULL;
pFirstPartEdgeY_ = NULL;
pFirstPartEdgeS_ = NULL;
pSecondPartEdgeX_ = NULL;
pSecondPartEdgeY_ = NULL;
pSecondPartEdgeS_ = NULL;
pAnchorX_ = NULL;
pAnchorY_ = NULL;
}
EDLineDetector::~EDLineDetector(){
if(pFirstPartEdgeX_!=NULL){
delete [] pFirstPartEdgeX_;
delete [] pFirstPartEdgeY_;
delete [] pSecondPartEdgeX_;
delete [] pSecondPartEdgeY_;
delete [] pAnchorX_;
delete [] pAnchorY_;
}
if(pFirstPartEdgeS_ != NULL){
delete [] pFirstPartEdgeS_;
delete [] pSecondPartEdgeS_;
}
}
void writeMat(cv::Mat m, string name, int n)
{
std::stringstream ss;
string s;
ss << n;
ss >> s;
string fileNameConf = name + s;
cv::FileStorage fsConf(fileNameConf, cv::FileStorage::WRITE);
fsConf << "m" << m;
fsConf.release();
}
int EDLineDetector::EdgeDrawing(cv::Mat &image, EdgeChains &edgeChains, bool smoothed )
{
imageWidth = image.cols;
imageHeight= image.rows;
unsigned int pixelNum = imageWidth*imageHeight;
#ifdef DEBUGEdgeDrawing
cv::imshow("prima blur", image);
#endif
if(!smoothed){//input image hasn't been smoothed.
cv::Mat InImage = image.clone();
cv::GaussianBlur(InImage, image, cv::Size(ksize_,ksize_), sigma_);
}
#ifdef DEBUGEdgeDrawing
cv::imshow("dopo blur", image);
cv::waitKey();
#endif
//Is this useful? Doesn't seem to have references
//else{
// unsigned char *pImage = image.GetImageData();
// memcpy(cvImage->data.ptr, pImage, pixelNum*sizeof(unsigned char));
// }
unsigned int edgePixelArraySize = pixelNum/5;
unsigned int maxNumOfEdge = edgePixelArraySize/20;
//compute dx, dy images
if(gImg_.cols!= imageWidth||gImg_.rows!= imageHeight){
if(pFirstPartEdgeX_!= NULL){
delete [] pFirstPartEdgeX_;
delete [] pFirstPartEdgeY_;
delete [] pSecondPartEdgeX_;
delete [] pSecondPartEdgeY_;
delete [] pFirstPartEdgeS_;
delete [] pSecondPartEdgeS_;
delete [] pAnchorX_;
delete [] pAnchorY_;
}
dxImg_.create(imageHeight, imageWidth, CV_16SC1);
dyImg_.create(imageHeight, imageWidth, CV_16SC1 );
gImgWO_.create(imageHeight, imageWidth, CV_16SC1 );
gImg_.create(imageHeight, imageWidth, CV_16SC1 );
dirImg_.create(imageHeight, imageWidth, CV_8UC1 );
edgeImage_.create(imageHeight, imageWidth, CV_8UC1 );
pFirstPartEdgeX_ = new unsigned int[edgePixelArraySize];
pFirstPartEdgeY_ = new unsigned int[edgePixelArraySize];
pSecondPartEdgeX_ = new unsigned int[edgePixelArraySize];
pSecondPartEdgeY_ = new unsigned int[edgePixelArraySize];
pFirstPartEdgeS_ = new unsigned int[maxNumOfEdge];
pSecondPartEdgeS_ = new unsigned int[maxNumOfEdge];
pAnchorX_ = new unsigned int[edgePixelArraySize];
pAnchorY_ = new unsigned int[edgePixelArraySize];
}
cv::Sobel( image, dxImg_, CV_16SC1, 1, 0, 3);
cv::Sobel( image, dyImg_, CV_16SC1, 0, 1, 3);
#ifdef DEBUGEdgeDrawing
cv::imshow("dxImg_", dxImg_);
cv::imshow("dyImg_", dyImg_);
cv::waitKey();
#endif
//compute gradient and direction images
double t = (double)cv::getTickCount();
cv::Mat dxABS_m = cv::abs(dxImg_);
cv::Mat dyABS_m = cv::abs(dyImg_);
cv::Mat sumDxDy;
cv::add(dyABS_m, dxABS_m, sumDxDy);
cv::threshold(sumDxDy,gImg_, gradienThreshold_+1, 255, cv::THRESH_TOZERO);
gImg_ = gImg_/4;
gImgWO_ = sumDxDy/4;
cv::compare(dxABS_m, dyABS_m, dirImg_, cv::CMP_LT);
t = ((double)cv::getTickCount() - t)/cv::getTickFrequency();
std::cout<<"FOR ABS: "<<t<<"s"<<std::endl;
short *pdxImg = dxImg_.ptr<short>();
short *pdyImg = dyImg_.ptr<short>();
short *pgImg = gImg_.ptr<short>();
unsigned char *pdirImg = dirImg_.ptr();
//extract the anchors in the gradient image, store into a vector
memset(pAnchorX_, 0, edgePixelArraySize*sizeof(unsigned int));//initialization
memset(pAnchorY_, 0, edgePixelArraySize*sizeof(unsigned int));
unsigned int anchorsSize = 0;
int indexInArray;
unsigned char gValue1, gValue2, gValue3;
for(unsigned int w=1; w<imageWidth-1; w=w+scanIntervals_){
for(unsigned int h=1; h<imageHeight-1; h=h+scanIntervals_){
indexInArray = h*imageWidth+w;
//gValue1 = pdirImg[indexInArray];
if(pdirImg[indexInArray]==Horizontal){//if the direction of pixel is horizontal, then compare with up and down
//gValue2 = pgImg[indexInArray];
if(pgImg[indexInArray]>=pgImg[indexInArray-imageWidth]+anchorThreshold_
&&pgImg[indexInArray]>=pgImg[indexInArray+imageWidth]+anchorThreshold_){// (w,h) is accepted as an anchor
pAnchorX_[anchorsSize] = w;
pAnchorY_[anchorsSize++] = h;
}
}else{// if(pdirImg[indexInArray]==Vertical){//it is vertical edge, should be compared with left and right
//gValue2 = pgImg[indexInArray];
if(pgImg[indexInArray]>=pgImg[indexInArray-1]+anchorThreshold_
&&pgImg[indexInArray]>=pgImg[indexInArray+1]+anchorThreshold_){// (w,h) is accepted as an anchor
pAnchorX_[anchorsSize] = w;
pAnchorY_[anchorsSize++] = h;
}
}
}
}
if(anchorsSize>edgePixelArraySize){
cout<<"anchor size is larger than its maximal size. anchorsSize="<<anchorsSize
<<", maximal size = "<<edgePixelArraySize <<endl;
return -1;
}
#ifdef DEBUGEdgeDrawing
cout<<"Anchor point detection, anchors.size="<<anchorsSize<<endl;
#endif
//link the anchors by smart routing
edgeImage_.setTo(0);
unsigned char *pEdgeImg = edgeImage_.data;
memset(pFirstPartEdgeX_, 0, edgePixelArraySize*sizeof(unsigned int));//initialization
memset(pFirstPartEdgeY_, 0, edgePixelArraySize*sizeof(unsigned int));
memset(pSecondPartEdgeX_, 0, edgePixelArraySize*sizeof(unsigned int));
memset(pSecondPartEdgeY_, 0, edgePixelArraySize*sizeof(unsigned int));
memset(pFirstPartEdgeS_, 0, maxNumOfEdge*sizeof(unsigned int));
memset(pSecondPartEdgeS_, 0, maxNumOfEdge*sizeof(unsigned int));
unsigned int offsetPFirst=0, offsetPSecond=0;
unsigned int offsetPS=0;
unsigned int x, y;
unsigned int lastX, lastY;
unsigned char lastDirection;//up = 1, right = 2, down = 3, left = 4;
unsigned char shouldGoDirection;//up = 1, right = 2, down = 3, left = 4;
int edgeLenFirst, edgeLenSecond;
for(unsigned int i=0; i<anchorsSize; i++){
x = pAnchorX_[i];
y = pAnchorY_[i];
indexInArray = y*imageWidth+x;
if(pEdgeImg[indexInArray]){//if anchor i is already been an edge pixel.
continue;
}
/*The walk stops under 3 conditions:
* 1. We move out of the edge areas, i.e., the thresholded gradient value
* of the current pixel is 0.
* 2. The current direction of the edge changes, i.e., from horizontal
* to vertical or vice versa.?? (This is turned out not correct. From the online edge draw demo
* we can figure out that authors don't implement this rule either because their extracted edge
* chain could be a circle which means pixel directions would definitely be different
* in somewhere on the chain.)
* 3. We encounter a previously detected edge pixel. */
pFirstPartEdgeS_[offsetPS] = offsetPFirst;
if(pdirImg[indexInArray]==Horizontal){//if the direction of this pixel is horizontal, then go left and right.
//fist go right, pixel direction may be different during linking.
lastDirection = RightDir;
while(pgImg[indexInArray]>0&&!pEdgeImg[indexInArray]){
pEdgeImg[indexInArray] = 1; // Mark this pixel as an edge pixel
pFirstPartEdgeX_[offsetPFirst] = x;
pFirstPartEdgeY_[offsetPFirst++] = y;
shouldGoDirection = 0;//unknown
if(pdirImg[indexInArray]==Horizontal){//should go left or right
if(lastDirection == UpDir ||lastDirection == DownDir){//change the pixel direction now
if(x>lastX){//should go right
shouldGoDirection = RightDir;
}else{//should go left
shouldGoDirection = LeftDir;
}
}
lastX = x;
lastY = y;
if(lastDirection == RightDir||shouldGoDirection == RightDir){//go right
if(x==imageWidth-1||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the right and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray-imageWidth+1];
gValue2 = pgImg[indexInArray+1];
gValue3 = pgImg[indexInArray+imageWidth+1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-right
x = x+1;
y = y+1;
}else{//straight-right
x = x+1;
}
lastDirection = RightDir;
} else if(lastDirection == LeftDir || shouldGoDirection==LeftDir){//go left
if(x==0||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the left and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray-imageWidth-1];
gValue2 = pgImg[indexInArray-1];
gValue3 = pgImg[indexInArray+imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-left
x = x-1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-left
x = x-1;
}
lastDirection = LeftDir;
}
}else{//should go up or down.
if(lastDirection == RightDir || lastDirection == LeftDir){//change the pixel direction now
if(y>lastY){//should go down
shouldGoDirection = DownDir;
}else{//should go up
shouldGoDirection = UpDir;
}
}
lastX = x;
lastY = y;
if(lastDirection==DownDir || shouldGoDirection == DownDir){//go down
if(x==0||x==imageWidth-1||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the down and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray+imageWidth+1];
gValue2 = pgImg[indexInArray+imageWidth];
gValue3 = pgImg[indexInArray+imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//down-right
x = x+1;
y = y+1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-down
y = y+1;
}
lastDirection = DownDir;
}else if(lastDirection==UpDir || shouldGoDirection == UpDir){//go up
if(x==0||x==imageWidth-1||y==0){//reach the image border
break;
}
// Look at 3 neighbors to the up and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray-imageWidth+1];
gValue2 = pgImg[indexInArray-imageWidth];
gValue3 = pgImg[indexInArray-imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//up-left
x = x-1;
y = y-1;
}else{//straight-up
y = y-1;
}
lastDirection = UpDir;
}
}
indexInArray = y*imageWidth+x;
}//end while go right
//then go left, pixel direction may be different during linking.
x = pAnchorX_[i];
y = pAnchorY_[i];
indexInArray = y*imageWidth+x;
pEdgeImg[indexInArray] = 0;//mark the anchor point be a non-edge pixel and
lastDirection = LeftDir;
pSecondPartEdgeS_[offsetPS] = offsetPSecond;
while(pgImg[indexInArray]>0&&!pEdgeImg[indexInArray]){
pEdgeImg[indexInArray] = 1; // Mark this pixel as an edge pixel
pSecondPartEdgeX_[offsetPSecond] = x;
pSecondPartEdgeY_[offsetPSecond++] = y;
shouldGoDirection = 0;//unknown
if(pdirImg[indexInArray]==Horizontal){//should go left or right
if(lastDirection == UpDir ||lastDirection == DownDir){//change the pixel direction now
if(x>lastX){//should go right
shouldGoDirection = RightDir;
}else{//should go left
shouldGoDirection = LeftDir;
}
}
lastX = x;
lastY = y;
if(lastDirection == RightDir||shouldGoDirection == RightDir){//go right
if(x==imageWidth-1||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the right and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray-imageWidth+1];
gValue2 = pgImg[indexInArray+1];
gValue3 = pgImg[indexInArray+imageWidth+1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-right
x = x+1;
y = y+1;
}else{//straight-right
x = x+1;
}
lastDirection = RightDir;
}else if(lastDirection == LeftDir || shouldGoDirection==LeftDir){//go left
if(x==0||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the left and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray-imageWidth-1];
gValue2 = pgImg[indexInArray-1];
gValue3 = pgImg[indexInArray+imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-left
x = x-1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-left
x = x-1;
}
lastDirection = LeftDir;
}
}else{//should go up or down.
if(lastDirection == RightDir || lastDirection == LeftDir){//change the pixel direction now
if(y>lastY){//should go down
shouldGoDirection = DownDir;
}else{//should go up
shouldGoDirection = UpDir;
}
}
lastX = x;
lastY = y;
if(lastDirection==DownDir || shouldGoDirection == DownDir){//go down
if(x==0||x==imageWidth-1||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the down and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray+imageWidth+1];
gValue2 = pgImg[indexInArray+imageWidth];
gValue3 = pgImg[indexInArray+imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//down-right
x = x+1;
y = y+1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-down
y = y+1;
}
lastDirection = DownDir;
}else if(lastDirection==UpDir || shouldGoDirection == UpDir){//go up
if(x==0||x==imageWidth-1||y==0){//reach the image border
break;
}
// Look at 3 neighbors to the up and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth+1];
gValue2 = pgImg[indexInArray- imageWidth];
gValue3 = pgImg[indexInArray- imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//up-left
x = x-1;
y = y-1;
}else{//straight-up
y = y-1;
}
lastDirection = UpDir;
}
}
indexInArray = y*imageWidth+x;
}//end while go left
//end anchor is Horizontal
}else{//the direction of this pixel is vertical, go up and down
//fist go down, pixel direction may be different during linking.
lastDirection = DownDir;
while(pgImg[indexInArray]>0&&!pEdgeImg[indexInArray]){
pEdgeImg[indexInArray] = 1; // Mark this pixel as an edge pixel
pFirstPartEdgeX_[offsetPFirst] = x;
pFirstPartEdgeY_[offsetPFirst++] = y;
shouldGoDirection = 0;//unknown
if(pdirImg[indexInArray]==Horizontal){//should go left or right
if(lastDirection == UpDir ||lastDirection == DownDir){//change the pixel direction now
if(x>lastX){//should go right
shouldGoDirection = RightDir;
}else{//should go left
shouldGoDirection = LeftDir;
}
}
lastX = x;
lastY = y;
if(lastDirection == RightDir||shouldGoDirection == RightDir){//go right
if(x==imageWidth-1||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the right and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth+1];
gValue2 = pgImg[indexInArray+1];
gValue3 = pgImg[indexInArray+ imageWidth+1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-right
x = x+1;
y = y+1;
}else{//straight-right
x = x+1;
}
lastDirection = RightDir;
}else if(lastDirection == LeftDir || shouldGoDirection==LeftDir){//go left
if(x==0||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the left and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth-1];
gValue2 = pgImg[indexInArray-1];
gValue3 = pgImg[indexInArray+ imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-left
x = x-1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-left
x = x-1;
}
lastDirection = LeftDir;
}
}else{//should go up or down.
if(lastDirection == RightDir || lastDirection == LeftDir){//change the pixel direction now
if(y>lastY){//should go down
shouldGoDirection = DownDir;
}else{//should go up
shouldGoDirection = UpDir;
}
}
lastX = x;
lastY = y;
if(lastDirection==DownDir || shouldGoDirection == DownDir){//go down
if(x==0||x==imageWidth-1||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the down and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray+ imageWidth+1];
gValue2 = pgImg[indexInArray+ imageWidth];
gValue3 = pgImg[indexInArray+ imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//down-right
x = x+1;
y = y+1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-down
y = y+1;
}
lastDirection = DownDir;
}else if(lastDirection==UpDir || shouldGoDirection == UpDir){//go up
if(x==0||x==imageWidth-1||y==0){//reach the image border
break;
}
// Look at 3 neighbors to the up and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth+1];
gValue2 = pgImg[indexInArray- imageWidth];
gValue3 = pgImg[indexInArray- imageWidth-1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//up-left
x = x-1;
y = y-1;
}else{//straight-up
y = y-1;
}
lastDirection = UpDir;
}
}
indexInArray = y*imageWidth+x;
}//end while go down
//then go up, pixel direction may be different during linking.
lastDirection = UpDir;
x = pAnchorX_[i];
y = pAnchorY_[i];
indexInArray = y*imageWidth+x;
pEdgeImg[indexInArray] = 0;//mark the anchor point be a non-edge pixel and
pSecondPartEdgeS_[offsetPS] = offsetPSecond;
while(pgImg[indexInArray]>0&&!pEdgeImg[indexInArray]){
pEdgeImg[indexInArray] = 1; // Mark this pixel as an edge pixel
pSecondPartEdgeX_[offsetPSecond] = x;
pSecondPartEdgeY_[offsetPSecond++] = y;
shouldGoDirection = 0;//unknown
if(pdirImg[indexInArray]==Horizontal){//should go left or right
if(lastDirection == UpDir ||lastDirection == DownDir){//change the pixel direction now
if(x>lastX){//should go right
shouldGoDirection = RightDir;
}else{//should go left
shouldGoDirection = LeftDir;
}
}
lastX = x;
lastY = y;
if(lastDirection == RightDir||shouldGoDirection == RightDir){//go right
if(x==imageWidth-1||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the right and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth+1];
gValue2 = pgImg[indexInArray+1];
gValue3 = pgImg[indexInArray+ imageWidth +1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-right
x = x+1;
y = y+1;
}else{//straight-right
x = x+1;
}
lastDirection = RightDir;
}else if(lastDirection == LeftDir || shouldGoDirection==LeftDir){//go left
if(x==0||y==0||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the left and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth -1];
gValue2 = pgImg[indexInArray-1];
gValue3 = pgImg[indexInArray+ imageWidth -1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-left
x = x-1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-left
x = x-1;
}
lastDirection = LeftDir;
}
}else{//should go up or down.
if(lastDirection == RightDir || lastDirection == LeftDir){//change the pixel direction now
if(y>lastY){//should go down
shouldGoDirection = DownDir;
}else{//should go up
shouldGoDirection = UpDir;
}
}
lastX = x;
lastY = y;
if(lastDirection==DownDir || shouldGoDirection == DownDir){//go down
if(x==0||x==imageWidth-1||y==imageHeight-1){//reach the image border
break;
}
// Look at 3 neighbors to the down and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray+ imageWidth +1];
gValue2 = pgImg[indexInArray+ imageWidth];
gValue3 = pgImg[indexInArray+ imageWidth -1];
if(gValue1>=gValue2&&gValue1>=gValue3){//down-right
x = x+1;
y = y+1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//down-left
x = x-1;
y = y+1;
}else{//straight-down
y = y+1;
}
lastDirection = DownDir;
}else if(lastDirection==UpDir || shouldGoDirection == UpDir){//go up
if(x==0||x==imageWidth-1||y==0){//reach the image border
break;
}
// Look at 3 neighbors to the up and pick the one with the max. gradient value
gValue1 = pgImg[indexInArray- imageWidth +1];
gValue2 = pgImg[indexInArray- imageWidth];
gValue3 = pgImg[indexInArray- imageWidth -1];
if(gValue1>=gValue2&&gValue1>=gValue3){//up-right
x = x+1;
y = y-1;
}else if(gValue3>=gValue2&&gValue3>=gValue1){//up-left
x = x-1;
y = y-1;
}else{//straight-up
y = y-1;
}
lastDirection = UpDir;
}
}
indexInArray = y*imageWidth+x;
}//end while go up
}//end anchor is Vertical
//only keep the edge chains whose length is larger than the minLineLen_;
edgeLenFirst = offsetPFirst - pFirstPartEdgeS_[offsetPS];
edgeLenSecond = offsetPSecond - pSecondPartEdgeS_[offsetPS];
if(edgeLenFirst+edgeLenSecond<minLineLen_+1){//short edge, drop it
offsetPFirst = pFirstPartEdgeS_[offsetPS];
offsetPSecond = pSecondPartEdgeS_[offsetPS];
}else{
offsetPS++;
}
}
//store the last index
pFirstPartEdgeS_[offsetPS] = offsetPFirst;
pSecondPartEdgeS_[offsetPS] = offsetPSecond;
if(offsetPS>maxNumOfEdge){
cout<<"Edge drawing Error: The total number of edges is larger than MaxNumOfEdge, "
"numofedge = "<<offsetPS<<", MaxNumOfEdge="<<maxNumOfEdge<<endl;
return -1;
}
if(offsetPFirst>edgePixelArraySize||offsetPSecond>edgePixelArraySize){
cout<<"Edge drawing Error: The total number of edge pixels is larger than MaxNumOfEdgePixels, "
"numofedgePixel1 = "<<offsetPFirst<<", numofedgePixel2 = "<<offsetPSecond <<
", MaxNumOfEdgePixel="<<edgePixelArraySize<<endl;
return -1;
}
/*now all the edge information are stored in pFirstPartEdgeX_, pFirstPartEdgeY_,
*pFirstPartEdgeS_, pSecondPartEdgeX_, pSecondPartEdgeY_, pSecondPartEdgeS_;
*we should reorganize them into edgeChains for easily using. */
int tempID;
edgeChains.xCors.resize(offsetPFirst+offsetPSecond);
edgeChains.yCors.resize(offsetPFirst+offsetPSecond);
edgeChains.sId.resize(offsetPS+1);
unsigned int *pxCors = edgeChains.xCors.data();
unsigned int *pyCors = edgeChains.yCors.data();
unsigned int *psId = edgeChains.sId.data();
offsetPFirst = 0;
offsetPSecond= 0;
unsigned int indexInCors = 0;
unsigned int numOfEdges = 0;
for(unsigned int edgeId = 0; edgeId<offsetPS; edgeId++){
//step1, put the first and second parts edge coordinates together from edge start to edge end
psId[numOfEdges++] = indexInCors;
indexInArray = pFirstPartEdgeS_[edgeId];
offsetPFirst = pFirstPartEdgeS_[edgeId+1];
for(tempID = offsetPFirst-1; tempID>= indexInArray; tempID--){//add first part edge
pxCors[indexInCors] = pFirstPartEdgeX_[tempID];
pyCors[indexInCors++] = pFirstPartEdgeY_[tempID];
}
indexInArray = pSecondPartEdgeS_[edgeId];
offsetPSecond= pSecondPartEdgeS_[edgeId+1];
for(tempID = indexInArray+1; tempID<offsetPSecond; tempID++){//add second part edge
pxCors[indexInCors] = pSecondPartEdgeX_[tempID];
pyCors[indexInCors++]= pSecondPartEdgeY_[tempID];
}
}
psId[numOfEdges] = indexInCors;//the end index of the last edge
edgeChains.numOfEdges = numOfEdges;
//#ifdef DEBUGEdgeDrawing
// cout<<"Edge Drawing, numofedge = "<<numOfEdges <<endl;
// /*Show the extracted edge cvImage in color. Each chain is in different color.*/
// IplImage* cvColorImg = cvCreateImage(cvSize(imageWidth,imageHeight),IPL_DEPTH_8U, 3);
// cvSet(cvColorImg, cvScalar(0,0,0));
// CvScalar s;
// srand((unsigned)time(0));
//
// int lowest=100, highest=255;
// int range=(highest-lowest)+1;
// int r, g, b; //the color of lines
// for(unsigned int i=0; i<edgeChains.numOfEdges; i++){
// r = lowest+int(rand()%range);
// g = lowest+int(rand()%range);
// b = lowest+int(rand()%range);
// s.val[0] = r; s.val[1] = g; s.val[2] = b;
// for(indexInCors = psId[i]; indexInCors<psId[i+1]; indexInCors++){
// cvSet2D(cvColorImg,pyCors[indexInCors],pxCors[indexInCors],s);
// }
// }
//
// cvNamedWindow("EdgeColorImage", CV_WINDOW_AUTOSIZE);
// cvShowImage("EdgeColorImage", cvColorImg);
// cvWaitKey(0);
// cvReleaseImage(&cvColorImg);
//#endif
return 1;
}
int EDLineDetector::EDline(cv::Mat &image, LineChains &lines, bool smoothed)
{
//first, call EdgeDrawing function to extract edges
EdgeChains edges;
if(!EdgeDrawing(image, edges,smoothed)){
cout<<"Line Detection not finished"<<endl;
return -1;
}
// bValidate_ =false;
#ifdef DEBUGEDLine
cv::imshow("EdgeDrawing", image);
cv::waitKey();
#endif
//detect lines
unsigned int linePixelID = edges.sId[edges.numOfEdges];
lines.xCors.resize(linePixelID);
lines.yCors.resize(linePixelID);
lines.sId.resize(5*edges.numOfEdges);
unsigned int *pEdgeXCors = edges.xCors.data();
unsigned int *pEdgeYCors = edges.yCors.data();
unsigned int *pEdgeSID = edges.sId.data();
unsigned int *pLineXCors = lines.xCors.data();
unsigned int *pLineYCors = lines.yCors.data();
unsigned int *pLineSID = lines.sId.data();
logNT_ = 2.0 * ( log10( (double) imageWidth ) + log10( (double) imageHeight ) );
double lineFitErr;//the line fit error;
std::array<double, 2> lineEquation;
lineEquations_.clear();
lineEndpoints_.clear();
lineDirection_.clear();
unsigned char *pdirImg = dirImg_.data;
unsigned int numOfLines = 0;
unsigned int offsetInEdgeArrayS, offsetInEdgeArrayE, newOffsetS;//start index and end index
unsigned int offsetInLineArray=0;
float direction;//line direction
for(unsigned int edgeID=0; edgeID<edges.numOfEdges; edgeID++){
offsetInEdgeArrayS = pEdgeSID[edgeID];
offsetInEdgeArrayE = pEdgeSID[edgeID+1];
while(offsetInEdgeArrayE > offsetInEdgeArrayS+minLineLen_){//extract line segments from an edge, may find more than one segments
//find an initial line segment
while(offsetInEdgeArrayE > offsetInEdgeArrayS+minLineLen_){
lineFitErr = LeastSquaresLineFit_(pEdgeXCors,pEdgeYCors,
offsetInEdgeArrayS,lineEquation);
if(lineFitErr<=lineFitErrThreshold_) break;//ok, an initial line segment detected
offsetInEdgeArrayS +=SkipEdgePoint; //skip the first two pixel in the chain and try with the remaining pixels
}
if(lineFitErr>lineFitErrThreshold_) break; //no line is detected
//An initial line segment is detected. Try to extend this line segment
pLineSID[numOfLines] = offsetInLineArray;
double coef1;//for a line ax+by+c=0, coef1 = 1/sqrt(a^2+b^2);
double pointToLineDis;//for a line ax+by+c=0 and a point(xi, yi), pointToLineDis = coef1*|a*xi+b*yi+c|
bool bExtended=true;
bool bFirstTry = true;
int numOfOutlier;//to against noise, we accept a few outlier of a line.
int tryTimes = 0;
if(pdirImg[pEdgeYCors[offsetInEdgeArrayS]*imageWidth + pEdgeXCors[offsetInEdgeArrayS]]==Horizontal){//y=ax+b, i.e. ax-y+b=0
while(bExtended){
tryTimes++;
if(bFirstTry){
bFirstTry = false;
for(int i=0; i<minLineLen_; i++){//First add the initial line segment to the line array
pLineXCors[offsetInLineArray] = pEdgeXCors[offsetInEdgeArrayS];
pLineYCors[offsetInLineArray++] = pEdgeYCors[offsetInEdgeArrayS++];
}
}else{//after each try, line is extended, line equation should be re-estimated
//adjust the line equation
lineFitErr = LeastSquaresLineFit_(pLineXCors,pLineYCors,pLineSID[numOfLines],
newOffsetS,offsetInLineArray,lineEquation);
}
coef1 = 1/sqrt(lineEquation[0]*lineEquation[0]+1);
numOfOutlier=0;
newOffsetS = offsetInLineArray;
while(offsetInEdgeArrayE > offsetInEdgeArrayS){
pointToLineDis = fabs(lineEquation[0]*pEdgeXCors[offsetInEdgeArrayS] -
pEdgeYCors[offsetInEdgeArrayS] + lineEquation[1])*coef1;
pLineXCors[offsetInLineArray] = pEdgeXCors[offsetInEdgeArrayS];
pLineYCors[offsetInLineArray++] = pEdgeYCors[offsetInEdgeArrayS++];
if(pointToLineDis>lineFitErrThreshold_){
numOfOutlier++;
if(numOfOutlier>3) break;
}else{//we count number of connective outliers.
numOfOutlier=0;
}
}
//pop back the last few outliers from lines and return them to edge chain
offsetInLineArray -=numOfOutlier;
offsetInEdgeArrayS -=numOfOutlier;
if(offsetInLineArray - newOffsetS>0&&tryTimes<TryTime){//some new pixels are added to the line
}else{
bExtended = false;//no new pixels are added.
}
}
//the line equation coefficients,for line w1x+w2y+w3 =0, we normalize it to make w1^2+w2^2 = 1.
std::array<double, 3> lineEqu = {lineEquation[0]*coef1, -1*coef1, lineEquation[1]*coef1};
if(LineValidation_(pLineXCors,pLineYCors,pLineSID[numOfLines],offsetInLineArray,lineEqu,direction)){//check the line
//store the line equation coefficients
lineEquations_.push_back(lineEqu);
/*At last, compute the line endpoints and store them.
*we project the first and last pixels in the pixelChain onto the best fit line
*to get the line endpoints.
*xp= (w2^2*x0-w1*w2*y0-w3*w1)/(w1^2+w2^2)
*yp= (w1^2*y0-w1*w2*x0-w3*w2)/(w1^2+w2^2) */
std::array<float, 4> lineEndP;//line endpoints
double a1 = lineEqu[1]*lineEqu[1];
double a2 = lineEqu[0]*lineEqu[0];
double a3 = lineEqu[0]*lineEqu[1];
double a4 = lineEqu[2]*lineEqu[0];
double a5 = lineEqu[2]*lineEqu[1];
unsigned int Px = pLineXCors[pLineSID[numOfLines] ];//first pixel
unsigned int Py = pLineYCors[pLineSID[numOfLines] ];
lineEndP[0] = a1*Px-a3*Py-a4;//x
lineEndP[1] = a2*Py-a3*Px-a5;//y
Px = pLineXCors[offsetInLineArray -1 ];//last pixel
Py = pLineYCors[offsetInLineArray -1 ];
lineEndP[2] = a1*Px-a3*Py-a4;//x
lineEndP[3] = a2*Py-a3*Px-a5;//y
lineEndpoints_.push_back(lineEndP);
lineDirection_.push_back(direction);
numOfLines++;
}else{
offsetInLineArray = pLineSID[numOfLines];// line was not accepted, the offset is set back
}
}else{//x=ay+b, i.e. x-ay-b=0
while(bExtended){
tryTimes++;
if(bFirstTry){
bFirstTry = false;
for(int i=0; i<minLineLen_; i++){//First add the initial line segment to the line array
pLineXCors[offsetInLineArray] = pEdgeXCors[offsetInEdgeArrayS];
pLineYCors[offsetInLineArray++] = pEdgeYCors[offsetInEdgeArrayS++];
}
}else{//after each try, line is extended, line equation should be re-estimated
//adjust the line equation
lineFitErr = LeastSquaresLineFit_(pLineXCors,pLineYCors,pLineSID[numOfLines],
newOffsetS,offsetInLineArray,lineEquation);
}
coef1 = 1/sqrt(1+lineEquation[0]*lineEquation[0]);
numOfOutlier=0;
newOffsetS = offsetInLineArray;
while(offsetInEdgeArrayE > offsetInEdgeArrayS){
pointToLineDis = fabs(pEdgeXCors[offsetInEdgeArrayS] -
lineEquation[0]*pEdgeYCors[offsetInEdgeArrayS] - lineEquation[1])*coef1;
pLineXCors[offsetInLineArray] = pEdgeXCors[offsetInEdgeArrayS];
pLineYCors[offsetInLineArray++] = pEdgeYCors[offsetInEdgeArrayS++];
if(pointToLineDis>lineFitErrThreshold_){
numOfOutlier++;
if(numOfOutlier>3) break;
}else{//we count number of connective outliers.
numOfOutlier=0;
}
}
//pop back the last few outliers from lines and return them to edge chain
offsetInLineArray -= numOfOutlier;
offsetInEdgeArrayS -= numOfOutlier;
if(offsetInLineArray - newOffsetS>0&&tryTimes<TryTime){//some new pixels are added to the line
}else{
bExtended = false;//no new pixels are added.
}
}
//the line equation coefficients,for line w1x+w2y+w3 =0, we normalize it to make w1^2+w2^2 = 1.
std::array<double, 3> lineEqu= {1*coef1,-lineEquation[0]*coef1, -lineEquation[1]*coef1};
if(LineValidation_(pLineXCors,pLineYCors,pLineSID[numOfLines],offsetInLineArray,lineEqu,direction)){//check the line
//store the line equation coefficients
lineEquations_.push_back(lineEqu);
/*At last, compute the line endpoints and store them.
*we project the first and last pixels in the pixelChain onto the best fit line
*to get the line endpoints.
*xp= (w2^2*x0-w1*w2*y0-w3*w1)/(w1^2+w2^2)
*yp= (w1^2*y0-w1*w2*x0-w3*w2)/(w1^2+w2^2) */
std::array<float, 4> lineEndP;//line endpoints
double a1 = lineEqu[1]*lineEqu[1];
double a2 = lineEqu[0]*lineEqu[0];
double a3 = lineEqu[0]*lineEqu[1];
double a4 = lineEqu[2]*lineEqu[0];
double a5 = lineEqu[2]*lineEqu[1];
unsigned int Px = pLineXCors[pLineSID[numOfLines] ];//first pixel
unsigned int Py = pLineYCors[pLineSID[numOfLines] ];
lineEndP[0] = a1*Px-a3*Py-a4;//x
lineEndP[1] = a2*Py-a3*Px-a5;//y
Px = pLineXCors[offsetInLineArray -1 ];//last pixel
Py = pLineYCors[offsetInLineArray -1 ];
lineEndP[2] = a1*Px-a3*Py-a4;//x
lineEndP[3] = a2*Py-a3*Px-a5;//y
lineEndpoints_.push_back(lineEndP);
lineDirection_.push_back(direction);
numOfLines++;
}else{
offsetInLineArray = pLineSID[numOfLines];// line was not accepted, the offset is set back