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Kernel-Based Hough Transform for Detecting Straight Lines in Images

This repository contains the reference implementation of the Kernel-Based Hough Transform (KHT). The KHT is a real-time line detection procedure that extends the conventional voting procedure of the Hough transform. It operates on clusters of approximately collinear pixels. For each cluster, the KHT casts votes using an oriented elliptical-Gaussian kernel that models the uncertainty associated with the best-fitting line for the corresponding cluster. The proposed approach not only significantly improves the performance of the voting scheme, but also produces a much cleaner voting map and makes the transform more robust to the detection of spurious lines.

Please cite our Pattern Recognition paper if you use this code in your research:

@Article{fernandes_oliveira-pr-41(1)-2008,
    author  = {Fernandes, Leandro A. F. and Oliveira, Manuel M.},
    title   = {Real-time line detection through an improved {H}ough transform voting scheme},
    journal = {Pattern Recognition},
    year    = {2008},
    volume  = {41},
    number  = {1},
    pages   = {299--314},
    doi     = {https://doi.org/10.1016/j.patcog.2007.04.003},
    url     = {http://www.ic.uff.br/~laffernandes/projects/kht},
}

The paper presents a complete description of the implemented technique. You will find additional material on the project's page.

Please, let Leandro A. F. Fernandes ([email protected]) knows if you want to contribute to this project. Also, do not hesitate to contact him if you encounter any problems.

Contents:

  1. Requirements
  2. How to Install KHT
  3. Compiling Examples
  4. Related Project
  5. License
  6. Releases

1. Requirements

Make sure that you have the following tools before attempting to use KHT.

Required tool:

  • Your favorite C++11 compiler.
  • CMake (version >= 3.14) to automate installation and to build and run examples.

Optional tool:

  • Python 2 or 3 interpreter, if you want to build and use KHT with Python.
  • MATLAB (version >= R2007a), if you want to build and use KHT with MATLAB.
  • Virtual enviroment to create an isolated workspace for a Python application.

The reference implementation of the KHT doesn't have any dependencies other than the C++ standard library. But some libraries are required if you want to use KHT with Python or build the sample Python and C++ applications.

Required Python packages and C++ libraries, if you want to use KHT with Python:

  • NumPy, the fundamental package for scientific computing with Python.
  • Boost.Python (version >= 1.56), a C++ library which enables seamless interoperability between C++ and the Python programming language.
  • Boost.NumPy, a C++ library that extends Boost.Python to NumPy.

Required C++ libraries and Python packages, if you want to build the C++ and Python sample application, respectively:

  • OpenCV (version >= 2.2), a C++ library of programming functions mainly aimed at real-time computer vision.
  • OpenCV-Python, a wrapper package for OpenCV Python bindings.
  • Matplotlib, a Python 2D plotting library which produces publication quality figures in a variety of hardcopy formats.

2. How to Install KHT

Use the git clone command to download the project, where <kht-dir> must be replaced by the directory in which you want to place KHT's source code, or removed <kht-dir> from the command line to download the project to the ./kht directory:

git clone https://github.com/laffernandes/kht.git <kht-dir>

The basic steps for configuring, building, and installing the KHT library look like this:

cd <kht-dir>/cpp
mkdir build
cd build
cmake ..
cmake --build . --config Release --target install

Notice that you may use the -G <generator-name> option of CMake's command-line tool to choose the build system (e.g., Unix makefiles, Visual Studio, etc.). Please, refer to CMake's Help for a complete description of how to use the CMake's command-line tool.

Installing the Python Module

We provide a back-end to access KHT from a Python environment. In order to make it available, you have to build the kht module, after installing the KHT library, using CMake of setuptools. With setuptools is easier, just run the commands presented bellow:

cd <kht-dir>/python
python setup.py install

With CMake, run the following commands instead:

cd <kht-dir>/python
mkdir build
cd build
cmake ..
cmake --build . --config Release --target install

It is important to emphasize that both Python 2 and 3 are supported. Please, refer to CMake's documentation for details about how CMake finds the Python interpreter, compiler, and development environment.

Finally, add <cmake-install-prefix>/lib/kht/python/<python-version> to the the PYTHONPATH environment variable. The <cmake-install-prefix> placeholder usually is /usr/local on Linux, and C:/Program Files/KHT or C:/Program Files (x86)/KHT on Windows. But it may change according to what was set in CMake. The <python-version> placeholder is the version of the Python interpreter found by CMake.

Set the PYTHONPATH variable by calling following command in Linux:

export PYTHONPATH="$PYTHONPATH:<cmake-install-prefix>/lib/kht/python/<python-version>"

But this action is not permanent. The new value of PYTHONPATH will be lost as soon as you close the terminal. A possible solution to make an environment variable persistent for a user's environment is to export the variable from the user's profile script:

  1. Open the current user's profile (the ~/.bash_profile file) into a text editor.
  2. Add the export command for the PYTHONPATH environment variable at the end of this file.
  3. Save your changes.

Execute the following steps to set the PYTHONPATH in Windows:

  1. From the Windows Explorer, right click the Computer icon.
  2. Choose Properties from the context menu.
  3. Click the Advanced system settings link.
  4. Click Environment Variables. In the section System Variables, find the PYTHONPATH environment variable and select it. Click Edit. If the PYTHONPATH environment variable does not exist, click New.
  5. In the Edit System Variable (or New System Variable) window, specify the value of the PYTHONPATH environment variable to include "<cmake-install-prefix>/lib/kht/python/<python-version>". Click OK. Close all remaining windows by clicking OK.
  6. Reopen yout Python environment.

Installing the MATLAB Wrapper

We provide a back-end to access KHT from MATLAB. In order to make it available, you have to build the MEX-file, after installing the KHT library, using the commands presented bellow:

cd <kht-dir>/matlab
mkdir build
cd build
cmake ..
cmake --build . --config Release --target install

Finally, open MATLAB and use the following commands to the instaled wrapper to MATLAB's search path:

addpath('<cmake-install-prefix>/lib/kht/matlab')
savepath

The <cmake-install-prefix> placeholder usually is /usr/local on Linux, and C:/Program Files/KHT or C:/Program Files (x86)/KHT on Windows. But it may change according to what was set in CMake.

Sometimes CMake tells you that "Could NOT find Matlab (missing: Matlab_MEX_LIBRARY)" even when MATLAB is appropriately installed. In this case, you have to check whether the correct architecture (32- vs. 64-bit compiler) was selected for compiling the KHT library and its MATLAB wrapper. For instance, on Windows, instead of using CMake with the "Visual Studio 15 2017" generator, try to use the "Visual Studio 15 2017 Win64" generator and vice versa.

3. Compiling Examples

The basic steps for configuring and building the C++ example of the KHT look like this:

cd <kht-dir>/cpp/example
mkdir build
cd build
cmake ..
cmake --build . --config Release

Call ./main to run the executable file produced on Linux, and Release\main.exe to run on Windows.

Recall that <kht-dir> is the directory in which you placed KHT's source code.

Use the files in the <kht-dir>/cpp/example directory as examples of how to configure and call the reference implementation of the KHT from your C++ program. For instance, after installation of the KHT library, CMake will find KHT using the command find_package(KHT) (see the <kht-dir>/cpp/example/CMakeLists.txt file and the CMake documentation for details). Also, you will be able to use the KHT_INCLUDE_DIRS variable in the CMakeList.txt file of your program while defining the include directories of your C++ project or targets. In your source code, you have to use the #include <kht/kht.hpp> directive to include the contents of the standard header file and then call the kht procedure (see the <kht-dir>/cpp/example/kht_example.cpp file).

Similarly, you will find examples of how to use the KHT library with Python and MATLAB in, respectively, the <kht-dir>/python/example and <kht-dir>/matlab/example directories.

4. Related Project

Please, visit the project's page to find a list of related projects.

5. License

This software is licensed under the GNU General Public License v3.0. See the LICENSE file for details.

6. Releases

Version 2.0.0

  • REPOSITORY: The project moved from SourceForge to GitHub.
  • BUILD SYSTEM: CMake becomes the default build system of KHT. Platform-specific solutions will not be provided anymore.
  • PYTHON: The Python back-end was included.

Version 1.0.4

  • BUG FIX: In the next() function of linking.cpp file, there were no protections against accessing pixels outside the image limits. The author would like to thank Timo Knuutile for pointing out this problem.

Version 1.0.3

  • UPDATE: The kht_compile.m file was ported to MATLAB R2011b, and a Microsoft Visual Studio 2010 project was included.

Version 1.0.2

  • BUG FIX: In line 177 of peak_detection.cpp file, the function compare_bins was being forced to assume a non-standard calling convention when passed as an argument to std::qsort() function, preventing its compilation on Linux. The problem was fixed. The authors would like to thank Laurens Leeuwis for pointing out this problem.

Version 1.0.1

  • BUG FIX: During the initialization of the accumulator, the last item of the lookup table defining the discrete theta values was not initialized. In such a case, the value should be 180-delta degrees. As a result, detected lines having theta = 180-delta were getting a random angular value. The authors would like to thank Dave Wood for pointing out this problem.

Version 1.0.0

  • NEW: Everything is new.