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Replaced Line Segment Detector with Fast Line Detector #28

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Replaced Line Segment Detector with Fast Line Detector #28

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21 changes: 12 additions & 9 deletions misc/pano_lsd_align.py
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Original file line number Diff line number Diff line change
Expand Up @@ -247,31 +247,34 @@ def separatePano(panoImg, fov, x, y, imgSize=320):
def lsdWrap(img, LSD=None, **kwargs):
'''
Opencv implementation of
Rafael Grompone von Gioi, Jérémie Jakubowicz, Jean-Michel Morel, and Gregory Randall,
LSD: a Line Segment Detector, Image Processing On Line, vol. 2012.
[Rafael12] http://www.ipol.im/pub/art/2012/gjmr-lsd/?utm_source=doi
Jin Han Lee, Sehyung Lee, Guoxuan Zhang, Jongwoo Lim, Wan Kyun Chung, and Il Hong Suh.
Outdoor place recognition in urban environments using straight lines.
In 2014 IEEE International Conference on Robotics and Automation (ICRA),
pages 5550–5557. IEEE, 2014.
@img
input image
@LSD
Constructing by cv2.createLineSegmentDetector
https://docs.opencv.org/3.0-beta/modules/imgproc/doc/feature_detection.html#linesegmentdetector
Constructing by cv2.ximgproc.createFastLineDetector
https://docs.opencv.org/master/df/ded/group__ximgproc__fast__line__detector.html
if LSD is given, kwargs will be ignored
Replaced the previously used cv2.createLineSegmentDetector since it is completely
removed by OpenCV (since 4.1.0)
@kwargs
is used to construct LSD
work only if @LSD is not given
'''
if LSD is None:
LSD = cv2.createLineSegmentDetector(**kwargs)
LSD = cv2.ximgproc.createFastLineDetector(**kwargs)

if len(img.shape) == 3:
img = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)

lines, width, prec, nfa = LSD.detect(img)
lines = LSD.detect(img)
if lines is None:
return np.zeros_like(img), np.array([])
edgeMap = LSD.drawSegments(np.zeros_like(img), lines)[..., -1]
lines = np.squeeze(lines, 1)
edgeList = np.concatenate([lines, width, prec, nfa], 1)
edgeList = np.concatenate([lines], 1)
return edgeMap, edgeList


Expand Down Expand Up @@ -831,7 +834,7 @@ def panoEdgeDetection(img, viewSize=320, qError=0.7, refineIter=3):

sepScene = separatePano(img.copy(), fov, x, y, cutSize)
edge = []
LSD = cv2.createLineSegmentDetector(_refine=cv2.LSD_REFINE_ADV, _quant=qError)
LSD = cv2.ximgproc.createFastLineDetector()
for i, scene in enumerate(sepScene):
edgeMap, edgeList = lsdWrap(scene['img'], LSD)
edge.append({
Expand Down