Add line segment detector(lsd)

CMakeLists.txt

@@ -27,6 +27,7 @@ generate_dynamic_reconfigure_options(
   #
   cfg/CamShift.cfg
   cfg/FBackFlow.cfg
+  cfg/LineSegmentDetector.cfg
   cfg/LKFlow.cfg
   cfg/PeopleDetect.cfg
   cfg/PhaseCorr.cfg
@@ -88,6 +89,9 @@ catkin_package(CATKIN_DEPENDS std_msgs
 include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
 
 ## Declare a cpp library
+if(OpenCV_VERSION VERSION_GREATER "2.9.9")
+  list(APPEND ${PROJECT_NAME}_EXTRA_FILES src/nodelet/line_segment_detector_nodelet.cpp)
+endif()
 if(OPENCV_HAVE_OPTFLOW)
   list(APPEND ${PROJECT_NAME}_EXTRA_FILES src/nodelet/simple_flow_nodelet.cpp)
 endif()
@@ -259,7 +263,9 @@ opencv_apps_add_nodelet(fback_flow fback_flow/fback_flow src/nodelet/fback_flow_
 # ./letter_recog.cpp
 opencv_apps_add_nodelet(lk_flow lk_flow/lk_flow src/nodelet/lk_flow_nodelet.cpp) # ./lkdemo.cpp
 # ./logistic_regression.cpp
-# ./lsd_lines.cpp
+if(OpenCV_VERSION VERSION_GREATER "2.9.9")
+  opencv_apps_add_nodelet(line_segment_detector line_segment_detector/line_segment_detector src/nodelet/line_segment_detector_nodelet.cpp) # ./lsd_lines.cpp
+endif()
 # ./mask_tmpl.cpp
 # ./matchmethod_orb_akaze_brisk.cpp
 # ./minarea.cpp
@@ -339,7 +345,11 @@ if(CATKIN_ENABLE_TESTING)
     message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
   else()
     file(GLOB LAUNCH_FILES launch/*.launch)
+    if(NOT (TARGET line_segment_detector_exe))
+      list(REMOVE_ITEM LAUNCH_FILES launch/line_segment_detector.launch)
+    endif()
     foreach(LAUNCH_FILE ${LAUNCH_FILES})
+      message(STATUS "${LAUNCH_FILE}")
       roslaunch_add_file_check(${LAUNCH_FILE})
     endforeach()
   endif()

cfg/LineSegmentDetector.cfg

@@ -0,0 +1,55 @@
+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2016, JSK Lab.
+# 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 Kei Okada 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 OWNER 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.
+
+PACKAGE='line_segment_detector'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", True)
+
+lsd_refine_type = gen.enum([ gen.const("REFINE_NONE", int_t,  0, "No refinement applied"),
+                             gen.const("REFINE_STD",  int_t,  1, "Standard refinement is applied. E.g. breaking arches into smaller straighter line approximations."),
+                             gen.const("REFINE_ADV",  int_t,  2, "Advanced refinement. Number of false alarms is calculated, lines are refined through increase of precision, decrement in size, etc."),
+], "An enum for Line Segment Detector Modes")
+gen.add("lsd_refine_type", int_t, 0, "Line Segment Detector Modes", 0, 0, 2, edit_method=lsd_refine_type)
+gen.add("lsd_scale", double_t,    0, "The scale of the image that will be used to find the lines. Range (0..1]", 0.8, 0.1, 1.0);
+gen.add("lsd_sigma_scale", double_t,    0, "Sigma for Gaussian filter. It is computed as sigma = _sigma_scale/_scale", 0.6, 0.1, 10.0);
+gen.add("lsd_quant", double_t,    0, "Bound to the quantization error on the gradient norm", 2.0, 0.0, 100.0);
+gen.add("lsd_angle_threshold", double_t,    0, "Gradient angle tolerance in degrees", 22.5, 0.1, 179.0);
+gen.add("lsd_log_eps", double_t,    0, "Detection threshold: -log10(NFA) > log_eps. Used only when advancent refinement is chosen", 0.0, 0.0, 360.0);
+gen.add("lsd_density_threshold", double_t,    0, "Minimal density of aligned region points in the enclosing rectangle", 0.7, 0.0, 0.9);
+gen.add("lsd_n_bins", int_t,    0, "Number of bins in pseudo-ordering of gradient modulus", 1024, 1, 10000)
+gen.add("lsd_line_length_threshold", double_t,    0, "Threshold of line length.", 100.0, 0.0, 1000.0)
+
+exit(gen.generate(PACKAGE, "line_segment_detector", "LineSegmentDetector"))

launch/line_segment_detector.launch

@@ -0,0 +1,34 @@
+<launch>
+  <arg name="node_name" default="line_segment_detector" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+
+  <arg name="lsd_refine_type" default="2" doc="Line Segment Detector Modes. 0: No refinement applied, 1: Standard refinement is applied, 2, Advanced refinement is applied."/>
+  <arg name="lsd_scale" default="0.8" doc="The scale of the image that will be used to find the lines. Range (0..1]" />
+  <arg name="lsd_sigma_scale" default="0.6" doc="Sigma for Gaussian filter. It is computed as sigma = _sigma_scale/_scale" />
+  <arg name="lsd_quant" default="2.0" doc="Bound to the quantization error on the gradient norm" />
+  <arg name="lsd_angle_threshold" default="22.5" doc="Gradient angle tolerance in degrees" />
+  <arg name="lsd_log_eps" default="0" doc="Detection threshold: -log10(NFA) > log_eps. Used only when advancent refinement is chosen" />
+  <arg name="lsd_density_threshold" default="0.3" doc="Minimal density of aligned region points in the enclosing rectangle" />
+  <arg name="lsd_n_bins" default="1024" doc="Number of bins in pseudo-ordering of gradient modulus" />
+  <arg name="lsd_line_length_threshold" default="0.0" doc="Threshold of line length" />
+
+  <!-- line_segment_detector.cpp  -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="line_segment_detector" >
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="lsd_refine_type" value="$(arg lsd_refine_type)" />
+    <param name="lsd_scale" value="$(arg lsd_scale)" />
+    <param name="lsd_sigma_scale" value="$(arg lsd_sigma_scale)" />
+    <param name="lsd_quant" value="$(arg lsd_quant)" />
+    <param name="lsd_angle_threshold" value="$(arg lsd_angle_threshold)" />
+    <param name="lsd_log_eps" value="$(arg lsd_log_eps)" />
+    <param name="lsd_density_threshold" value="$(arg lsd_density_threshold)" />
+    <param name="lsd_n_bins" value="$(arg lsd_n_bins)" />
+    <param name="lsd_line_length_threshold" value="$(arg lsd_line_length_threshold)" />
+  </node>
+</launch>

nodelet_plugins.xml

@@ -55,6 +55,10 @@
     <description>Nodelet to demonstrates dense optical flow algorithm by Gunnar Farneback</description>
   </class>
 
+  <class name="line_segment_detector/line_segment_detector" type="line_segment_detector::LineSegmentDetectorNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to detector line segments</description>
+  </class>
+
   <class name="lk_flow/lk_flow" type="lk_flow::LKFlowNodelet" base_class_type="nodelet::Nodelet">
     <description>Nodelet to calculate Lukas-Kanade optical flow</description>
   </class>