Add line segment detector(lsd) #35

iory · 2016-09-15T18:12:59Z

k-okada · 2016-09-18T05:58:43Z

test/CMakeLists.txt

@@ -35,6 +35,11 @@ add_rostest(test-goodfeature_track.test ARGS gui:=false)
 add_rostest(test-camshift.test ARGS gui:=false)
 add_rostest(test-fback_flow.test ARGS gui:=false)
 add_rostest(test-lk_flow.test ARGS gui:=false)
+if(OpenCV_VERSION VERSION_LESS "3.0")
+  message(STATUS "======================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================")


I am testing, so this commit will delete.

k-okada · 2016-09-18T06:04:42Z

src/nodelet/line_segment_detector_nodelet.cpp

+      std::string new_window_name;
+      cv::Mat grad;
+
+      cv::Ptr<cv::LineSegmentDetector> lsd = cv::createLineSegmentDetector(lsd_refine_, lsd_scale_,


do we have to create this instance every loop?

we don't have to create it every loop.
re-create instance when rosparam changed.
https://github.com/ros-perception/opencv_apps/pull/35/files#diff-51d9a14bcb3567cf07467833b23d4bebR91

k-okada · 2016-09-18T06:05:15Z

src/nodelet/line_segment_detector_nodelet.cpp

+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
+
+  bool debug_view_;
+  ros::Time prev_stamp_;


do we use this variable?

prev_stamp_?
opencv_apps's nodelet almost have prev_stamp_.
https://github.com/ros-perception/opencv_apps/blob/indigo/src/nodelet/camshift_nodelet.cpp#L75
https://github.com/ros-perception/opencv_apps/blob/indigo/src/nodelet/lk_flow_nodelet.cpp#L251
I think these don't have an efficient role.

I think this variable is not necessary.

k-okada · 2016-09-18T06:06:28Z

launch/line_segment_detector.launch

+  <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"/>


please add list of types : see https://github.com/ros-perception/opencv_apps/blob/indigo/launch/edge_detection.launch#L9

k-okada · 2016-09-21T01:47:34Z

src/nodelet/line_segment_detector_nodelet.cpp

+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
+
+  cv::Ptr<cv::LineSegmentDetector> lsd_;


you do not have to define global variable, use flag to update the param see https://github.com/ros-perception/opencv_apps/blob/indigo/src/nodelet/camshift_nodelet.cpp#L163

Sorry, I could not understand well.
global variable is lsd_?

k-okada · 2016-09-21T01:58:13Z

please put line_segment_detector.png so that we can put that imgae on http://wiki.ros.org/opencv_apps

iory · 2016-09-21T16:08:11Z

OK! I upload it.

furushchev · 2016-10-06T05:04:57Z

need rebase origin/indigo (see #45)

k-okada · 2017-02-20T09:08:47Z

@iory failing on test -> https://travis-ci.org/ros-perception/opencv_apps/jobs/166045561

+ catkin_test_results --verbose build
Full test results for 'opencv_apps/test_results/opencv_apps/roslaunch-check__home_travis_catkin_ws_src_opencv_apps_launch_line_segment_detector.launch.xml'
-------------------------------------------------
<testsuite errors="0" failures="1" name="roslaunch-check__home_travis_catkin_ws_src_opencv_apps_launch_line_segment_detector.launch.xml" tests="1" time="1"><testcase classname="Results" name="test_ran" status="run" time="1"><failure message="roslaunch check [/home/travis/catkin_ws/src/opencv_apps/launch/line_segment_detector.launch] failed" type="" /></testcase><system-out>&lt;![CDATA[
[/home/travis/catkin_ws/src/opencv_apps/launch/line_segment_detector.launch]:
	cannot find node [line_segment_detector] in package [opencv_apps]
]]&gt;</system-out></testsuite>
-------------------------------------------------
Full test results for 'opencv_apps/test_results/opencv_apps/roslaunch-check__home_travis_catkin_ws_src_opencv_apps_test_test-line_segment_detector.test.xml'
-------------------------------------------------
<testsuite errors="0" failures="1" name="roslaunch-check__home_travis_catkin_ws_src_opencv_apps_test_test-line_segment_detector.test.xml" tests="1" time="1"><testcase classname="Results" name="test_ran" status="run" time="1"><failure message="roslaunch check [/home/travis/catkin_ws/src/opencv_apps/test/test-line_segment_detector.test] failed" type="" /></testcase><system-out>&lt;![CDATA[
[/home/travis/catkin_ws/src/opencv_apps/test/test-line_segment_detector.test]:
	cannot find node [line_segment_detector] in package [opencv_apps]
]]&gt;</system-out></testsuite>
-------------------------------------------------
opencv_apps/test_results/opencv_apps/roslaunch-check__home_travis_catkin_ws_src_opencv_apps_launch_line_segment_detector.launch.xml: 1 tests, 0 errors, 1 failures
opencv_apps/test_results/opencv_apps/roslaunch-check__home_travis_catkin_ws_src_opencv_apps_test_test-line_segment_detector.test.xml: 1 tests, 0 errors, 1 failures
Summary: 124 tests, 0 errors, 2 failures
+ catkin_test_results --all build
Skipping "catkin_tools_prebuild/package.xml": 'tests'

iory · 2017-03-31T17:41:54Z

Test passed.
Please check these codes.

k-okada · 2017-04-03T01:49:49Z

CMakeLists.txt

@@ -9,6 +9,9 @@ message(STATUS "OpenCV Components: ${OpenCV_LIB_COMPONENTS}")
 if(OpenCV_VERSION VERSION_LESS "3.0" OR TARGET opencv_optflow)
  set(OPENCV_HAVE_OPTFLOW TRUE)
 endif()
+if(TARGET opencv_line_descriptor)


why we need if(TARGET opencv_line_descriptor) ?

This is function of opencv3.
So we need target.

k-okada · 2017-04-04T09:11:09Z

``` if(TARGET opencv_line_descriptor) set(OPENCV_HAVE_LINE_DESCRIPTOR TRUE) endif() if(OPENCV_HAVE_LINE_DESCRIPTOR) opencv_apps_add_nodelet(line_segment_detector line_segment_detector/line_segment_detector src/nodelet/line_segment_detector_nodelet.cpp) # ./lsd_lines.cpp endif() ``` if target set, set OPENCV_HAVE.... and if OPENCV_HAVE.. is set, set target. seems very strange.... why are you confident with this.

…

-- ◉ Kei Okada 2017-04-03 11:47 GMT+09:00 iory <[email protected]>:

***@***.**** commented on this pull request. ------------------------------ In CMakeLists.txt <#35 (comment)> : > @@ -9,6 +9,9 @@ message(STATUS "OpenCV Components: ${OpenCV_LIB_COMPONENTS}") if(OpenCV_VERSION VERSION_LESS "3.0" OR TARGET opencv_optflow) set(OPENCV_HAVE_OPTFLOW TRUE) endif() +if(TARGET opencv_line_descriptor) This is function of opencv3. So we need target. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#35 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3DbYZnV_MncJUsZRnm3zQSmb21__ks5rsF3cgaJpZM4J-LYQ> .

iory · 2017-04-04T09:46:30Z

I understand that "if(TARGET opencv_line_descriptor)" is true when opencv have line_segment_descriptor (in opencv3). Is this understanding wrong?

k-okada · 2017-04-04T10:08:54Z

I see, you're correct. that's why we need `find_packge(OpenCV)` and sometime we have trouble when we install `ros-indgo-opencv3`, becuase `ros-indigo-cv-bridge` is linked against opnecv2, but `find_packaage(OpenCV)` look for `ros-indigo-opencv3`

…

-- ◉ Kei Okada 2017-04-04 18:46 GMT+09:00 iory <[email protected]>:

I understand that "if(TARGET opencv_line_descriptor)" is true when opencv have line_segment_descriptor (in opencv3). Is this understanding wrong? — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#35 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3BGbkVFHuZLXHJkH0ImOQQ6jp6HRks5rshF3gaJpZM4J-LYQ> .

k-okada · 2017-11-14T06:19:00Z

@iory please rebase origin/master

iory force-pushed the lsd branch 3 times, most recently from 85a250b to c17a3e4 Compare September 17, 2016 09:03

k-okada reviewed Sep 18, 2016

View reviewed changes

iory force-pushed the lsd branch 2 times, most recently from cfa63e6 to d99a758 Compare September 18, 2016 07:28

k-okada reviewed Sep 21, 2016

View reviewed changes

iory force-pushed the lsd branch 6 times, most recently from 69cfaef to b2ea66b Compare October 8, 2016 13:37

iory force-pushed the lsd branch 8 times, most recently from 31df0c7 to fafed04 Compare March 31, 2017 16:36

k-okada reviewed Apr 3, 2017

View reviewed changes

iory force-pushed the lsd branch from ddcf675 to 3b588d0 Compare April 5, 2017 03:32

k-okada added the NeedFeedback label Jul 11, 2017

iory and others added 3 commits August 22, 2018 22:30

Add line segment detector(lsd)

96a0303

CMakeLists.txt: add comment to why we call find_package(OpenCV)

01ef29b

Fix namespace and pkg name of nodelets

1bd8403

iory force-pushed the lsd branch from 3b588d0 to 1bd8403 Compare August 22, 2018 13:31

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Add line segment detector(lsd) #35

Add line segment detector(lsd) #35

iory commented Sep 15, 2016

k-okada Sep 18, 2016

iory Sep 18, 2016

k-okada Sep 18, 2016

iory Sep 18, 2016

k-okada Sep 18, 2016

iory Sep 18, 2016

iory Sep 18, 2016

k-okada Sep 18, 2016

iory Sep 18, 2016

k-okada Sep 21, 2016

iory Sep 21, 2016

k-okada commented Sep 21, 2016

iory commented Sep 21, 2016

furushchev commented Oct 6, 2016

k-okada commented Feb 20, 2017

iory commented Mar 31, 2017

k-okada Apr 3, 2017

iory Apr 3, 2017

k-okada commented Apr 4, 2017 via email

iory commented Apr 4, 2017

k-okada commented Apr 4, 2017 via email

k-okada commented Nov 14, 2017

Add line segment detector(lsd) #35

Are you sure you want to change the base?

Add line segment detector(lsd) #35

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iory commented Sep 15, 2016

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k-okada commented Sep 21, 2016

iory commented Sep 21, 2016

furushchev commented Oct 6, 2016

k-okada commented Feb 20, 2017

iory commented Mar 31, 2017

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k-okada commented Apr 4, 2017 via email

iory commented Apr 4, 2017

k-okada commented Apr 4, 2017 via email

k-okada commented Nov 14, 2017