Detailed Description

Introduction

One of the most challenging activities in computer vision is the extraction of useful information from a given image. Such information, usually comes in the form of points that preserve some kind of property (for instance, they are scale-invariant) and are actually representative of input image.

The goal of this module is seeking a new kind of representative information inside an image and providing the functionalities for its extraction and representation. In particular, differently from previous methods for detection of relevant elements inside an image, lines are extracted in place of points; a new class is defined ad hoc to summarize a line's properties, for reuse and plotting purposes.

Computation of binary descriptors

To obtatin a binary descriptor representing a certain line detected from a certain octave of an image, we first compute a non-binary descriptor as described in [317] . Such algorithm works on lines extracted using EDLine detector, as explained in [290] . Given a line, we consider a rectangular region centered at it and called line support region (LSR). Such region is divided into a set of bands \(\{B_1, B_2, ..., B_m\}\), whose length equals the one of line.

If we indicate with \(\bf{d}_L\) the direction of line, the orthogonal and clockwise direction to line \(\bf{d}_{\perp}\) can be determined; these two directions, are used to construct a reference frame centered in the middle point of line. The gradients of pixels \(\bf{g'}\) inside LSR can be projected to the newly determined frame, obtaining their local equivalent \(\bf{g'} = (\bf{g}^T \cdot \bf{d}_{\perp}, \bf{g}^T \cdot \bf{d}_L)^T \triangleq (\bf{g'}_{d_{\perp}}, \bf{g'}_{d_L})^T\).

Later on, a Gaussian function is applied to all LSR's pixels along \(\bf{d}_\perp\) direction; first, we assign a global weighting coefficient \(f_g(i) = (1/\sqrt{2\pi}\sigma_g)e^{-d^2_i/2\sigma^2_g}\) to i*-th row in LSR, where \(d_i\) is the distance of i-th row from the center row in LSR, \(\sigma_g = 0.5(m \cdot w - 1)\) and \(w\) is the width of bands (the same for every band). Secondly, considering a band \(B_j\) and its neighbor bands \(B_{j-1}, B_{j+1}\), we assign a local weighting \(F_l(k) = (1/\sqrt{2\pi}\sigma_l)e^{-d'^2_k/2\sigma_l^2}\), where \(d'_k\) is the distance of k-th row from the center row in \(B_j\) and \(\sigma_l = w\). Using the global and local weights, we obtain, at the same time, the reduction of role played by gradients far from line and of boundary effect, respectively.

Each band \(B_j\) in LSR has an associated band descriptor(BD) which is computed considering previous and next band (top and bottom bands are ignored when computing descriptor for first and last band). Once each band has been assignen its BD, the LBD descriptor of line is simply given by

\[LBD = (BD_1^T, BD_2^T, ... , BD^T_m)^T.\]

To compute a band descriptor \(B_j\), each k-th row in it is considered and the gradients in such row are accumulated:

\[\begin{matrix} \bf{V1}^k_j = \lambda \sum\limits_{\bf{g}'_{d_\perp}>0}\bf{g}'_{d_\perp}, & \bf{V2}^k_j = \lambda \sum\limits_{\bf{g}'_{d_\perp}<0} -\bf{g}'_{d_\perp}, \\ \bf{V3}^k_j = \lambda \sum\limits_{\bf{g}'_{d_L}>0}\bf{g}'_{d_L}, & \bf{V4}^k_j = \lambda \sum\limits_{\bf{g}'_{d_L}<0} -\bf{g}'_{d_L}\end{matrix}.\]

with \(\lambda = f_g(k)f_l(k)\).

By stacking previous results, we obtain the band description matrix (BDM)

\[BDM_j = \left(\begin{matrix} \bf{V1}_j^1 & \bf{V1}_j^2 & \ldots & \bf{V1}_j^n \\ \bf{V2}_j^1 & \bf{V2}_j^2 & \ldots & \bf{V2}_j^n \\ \bf{V3}_j^1 & \bf{V3}_j^2 & \ldots & \bf{V3}_j^n \\ \bf{V4}_j^1 & \bf{V4}_j^2 & \ldots & \bf{V4}_j^n \end{matrix} \right) \in \mathbb{R}^{4\times n},\]

with \(n\) the number of rows in band \(B_j\):

\[n = \begin{cases} 2w, & j = 1||m; \\ 3w, & \mbox{else}. \end{cases}\]

Each \(BD_j\) can be obtained using the standard deviation vector \(S_j\) and mean vector \(M_j\) of \(BDM_J\). Thus, finally:

\[LBD = (M_1^T, S_1^T, M_2^T, S_2^T, \ldots, M_m^T, S_m^T)^T \in \mathbb{R}^{8m}\]

Once the LBD has been obtained, it must be converted into a binary form. For such purpose, we consider 32 possible pairs of BD inside it; each couple of BD is compared bit by bit and comparison generates an 8 bit string. Concatenating 32 comparison strings, we get the 256-bit final binary representation of a single LBD.

Classes
class	cv::line_descriptor::BinaryDescriptor
	Class implements both functionalities for detection of lines and computation of their binary descriptor. More...

class	cv::line_descriptor::BinaryDescriptorMatcher
	furnishes all functionalities for querying a dataset provided by user or internal to class (that user must, anyway, populate) on the model of Descriptor Matchers More...

struct	cv::line_descriptor::DrawLinesMatchesFlags

struct	cv::line_descriptor::KeyLine
	A class to represent a line. More...

class	cv::line_descriptor::LSDDetector

struct	cv::line_descriptor::LSDParam

Functions
void	cv::line_descriptor::drawKeylines (const Mat &image, const std::vector< KeyLine > &keylines, Mat &outImage, const Scalar &color=Scalar::all(-1), int flags=DrawLinesMatchesFlags::DEFAULT)
	Draws keylines.

void	cv::line_descriptor::drawLineMatches (const Mat &img1, const std::vector< KeyLine > &keylines1, const Mat &img2, const std::vector< KeyLine > &keylines2, const std::vector< DMatch > &matches1to2, Mat &outImg, const Scalar &matchColor=Scalar::all(-1), const Scalar &singleLineColor=Scalar::all(-1), const std::vector< char > &matchesMask=std::vector< char >(), int flags=DrawLinesMatchesFlags::DEFAULT)
	Draws the found matches of keylines from two images.

Function Documentation

◆ drawKeylines()

void cv::line_descriptor::drawKeylines	(	const Mat &	image,
		const std::vector< KeyLine > &	keylines,
		Mat &	outImage,
		const Scalar &	color = `Scalar::all(-1)`,
		int	flags = `DrawLinesMatchesFlags::DEFAULT`
	)

Python:
	cv.line_descriptor.drawKeylines(	image, keylines[, outImage[, color[, flags]]]	) ->	outImage

#include <opencv2/line_descriptor/descriptor.hpp>

Draws keylines.

Parameters

image	input image
keylines	keylines to be drawn
outImage	output image to draw on
color	color of lines to be drawn (if set to defaul value, color is chosen randomly)
flags	drawing flags

◆ drawLineMatches()

void cv::line_descriptor::drawLineMatches	(	const Mat &	img1,
		const std::vector< KeyLine > &	keylines1,
		const Mat &	img2,
		const std::vector< KeyLine > &	keylines2,
		const std::vector< DMatch > &	matches1to2,
		Mat &	outImg,
		const Scalar &	matchColor = `Scalar::all(-1)`,
		const Scalar &	singleLineColor = `Scalar::all(-1)`,
		const std::vector< char > &	matchesMask = `std::vector< char >()`,
		int	flags = `DrawLinesMatchesFlags::DEFAULT`
	)

Python:
	cv.line_descriptor.drawLineMatches(	img1, keylines1, img2, keylines2, matches1to2[, outImg[, matchColor[, singleLineColor[, matchesMask[, flags]]]]]	) ->	outImg