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// All rights reserved.
//
// 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.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may 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 COPYRIGHT HOLDERS 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.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#include "base/line.h"
#include "util/logging.h"
extern "C" {
#include "LSD/lsd.h"
}
namespace colmap {
namespace {
struct RawDeleter {
void operator()(double* p) { free(p); }
};
} // namespace
std::vector<LineSegment> DetectLineSegments(const Bitmap& bitmap,
const double min_length) {
const double min_length_squared = min_length * min_length;
std::vector<uint8_t> bitmap_data;
if (bitmap.IsGrey()) {
bitmap_data = bitmap.ConvertToRowMajorArray();
} else {
const Bitmap bitmap_gray = bitmap.CloneAsGrey();
bitmap_data = bitmap_gray.ConvertToRowMajorArray();
}
std::vector<double> bitmap_data_double(bitmap_data.begin(),
bitmap_data.end());
int num_segments;
std::unique_ptr<double, RawDeleter> segments_data(
lsd(&num_segments, bitmap_data_double.data(), bitmap.Width(),
bitmap.Height()));
std::vector<LineSegment> segments;
segments.reserve(num_segments);
for (int i = 0; i < num_segments; ++i) {
const Eigen::Vector2d start(segments_data.get()[i * 7],
segments_data.get()[i * 7 + 1]);
const Eigen::Vector2d end(segments_data.get()[i * 7 + 2],
segments_data.get()[i * 7 + 3]);
if ((start - end).squaredNorm() >= min_length_squared) {
segments.emplace_back();
segments.back().start = start;
segments.back().end = end;
}
}
return segments;
}
std::vector<LineSegmentOrientation> ClassifyLineSegmentOrientations(
const std::vector<LineSegment>& segments, const double tolerance) {
CHECK_LE(tolerance, 0.5);
std::vector<LineSegmentOrientation> orientations;
orientations.reserve(segments.size());
for (const auto& segment : segments) {
const Eigen::Vector2d direction =
(segment.end - segment.start).normalized();
if (std::abs(direction.x()) + tolerance > 1) {
orientations.push_back(LineSegmentOrientation::HORIZONTAL);
} else if (std::abs(direction.y()) + tolerance > 1) {
orientations.push_back(LineSegmentOrientation::VERTICAL);
} else {
orientations.push_back(LineSegmentOrientation::UNDEFINED);
}
}
return orientations;
}
} // namespace colmap
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