Ajout prototype Wrapper ROS matcher
This commit is contained in:
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parent
f17bbbcc51
commit
373a75ae87
409 changed files with 133617 additions and 507 deletions
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@ -1,3 +1,6 @@
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#ifndef ASIFTMATCHER_HPP
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#define ASIFTMATCHER_HPP
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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@ -94,3 +97,5 @@ protected:
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bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ?
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bool _showDebug;// = 0; //Show debugging messages ?
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};
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#endif
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@ -17,10 +17,6 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"io_png/libs/zlib/CMakeLists.txt"
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"libMatch/CMakeLists.txt"
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"libNumerics/CMakeLists.txt"
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"/usr/share/OpenCV/OpenCVConfig-version.cmake"
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"/usr/share/OpenCV/OpenCVConfig.cmake"
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"/usr/share/OpenCV/OpenCVModules-release.cmake"
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"/usr/share/OpenCV/OpenCVModules.cmake"
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"/usr/share/cmake-2.8/Modules/CMakeCInformation.cmake"
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"/usr/share/cmake-2.8/Modules/CMakeCXXInformation.cmake"
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"/usr/share/cmake-2.8/Modules/CMakeCommonLanguageInclude.cmake"
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@ -6,3 +6,81 @@
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#IncludeRegexTransform:
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./io_png/libs/png/png.h
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../zlib/zlib.h
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./io_png/libs/zlib/zlib.h
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pngconf.h
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./io_png/libs/png/pngconf.h
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crtdbg.h
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-
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./io_png/libs/png/pngconf.h
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pngusr.h
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./io_png/libs/png/pngusr.h
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config.h
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./io_png/libs/png/config.h
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windows.h
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-
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stdio.h
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-
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stdio.h
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-
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sys/types.h
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-
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setjmp.h
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-
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strings.h
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-
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string.h
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-
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stdlib.h
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-
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fp.h
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-
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math.h
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-
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m68881.h
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-
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mem.h
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-
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alloc.h
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-
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malloc.h
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-
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time.h
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-
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dos.h
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-
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./io_png/libs/zlib/zconf.h
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windows.h
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-
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sys/types.h
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-
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unistd.h
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-
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unixio.h
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-
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./io_png/libs/zlib/zlib.h
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zconf.h
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./io_png/libs/zlib/zconf.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.c
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stdlib.h
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-
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stdio.h
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-
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math.h
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-
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assert.h
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-
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png.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/png.h
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png.h
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-
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io_png.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
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@ -6,143 +6,3 @@
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#IncludeRegexTransform:
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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demo_lib_sift.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
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frot.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
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fproj.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
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vector
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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demo_lib_sift.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
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frot.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
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fproj.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
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vector
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.cpp
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stdio.h
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-
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stdlib.h
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-
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string.h
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-
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time.h
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-
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vector
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-
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omp.h
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-
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demo_lib_sift.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
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io_png/io_png.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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frot.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
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fproj.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
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compute_asift_keypoints.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
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compute_asift_matches.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
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stdlib.h
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-
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assert.h
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-
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numerics1.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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filter.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/filter.h
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domain.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/domain.h
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splines.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
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flimage.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/flimage.h
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vector
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/domain.h
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numerics1.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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splines.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/filter.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/flimage.h
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iostream
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-
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string
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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vector
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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vector
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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stdio.h
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-
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stdlib.h
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math.h
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-
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time.h
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-
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float.h
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-
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
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stdio.h
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-
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stdlib.h
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math.h
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fstream
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iostream
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
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numerics1.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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string.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/string.h
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vector
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@ -37,7 +37,6 @@ SET(CMAKE_C_TARGET_INCLUDE_PATH
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"."
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"./io_png"
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"./io_png/libs/png"
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"/usr/include/opencv"
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)
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SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
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SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
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# compile C with /usr/bin/cc
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# compile CXX with /usr/bin/c++
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C_FLAGS = -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png -I/usr/include/opencv
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C_FLAGS = -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png
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C_DEFINES =
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CXX_FLAGS = -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11 -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png -I/usr/include/opencv
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CXX_FLAGS = -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11 -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png
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CXX_DEFINES =
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#IncludeRegexTransform:
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./io_png/libs/png/png.h
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../zlib/zlib.h
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./io_png/libs/zlib/zlib.h
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pngconf.h
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./io_png/libs/png/pngconf.h
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crtdbg.h
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-
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./io_png/libs/png/pngconf.h
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pngusr.h
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./io_png/libs/png/pngusr.h
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config.h
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./io_png/libs/png/config.h
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windows.h
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-
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stdio.h
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stdio.h
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sys/types.h
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setjmp.h
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strings.h
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string.h
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stdlib.h
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fp.h
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math.h
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m68881.h
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mem.h
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alloc.h
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malloc.h
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time.h
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dos.h
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./io_png/libs/zlib/zconf.h
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windows.h
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sys/types.h
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unistd.h
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unixio.h
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./io_png/libs/zlib/zlib.h
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zconf.h
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./io_png/libs/zlib/zconf.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
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stdio.h
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-
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stdlib.h
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string.h
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time.h
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vector
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sstream
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omp.h
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demo_lib_sift.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
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library.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
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frot.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
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fproj.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
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compute_asift_keypoints.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
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compute_asift_matches.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h
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CImg.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CImg.h
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CImg.h
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cstdio
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cstdlib
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cstdarg
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cstring
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cmath
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cfloat
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climits
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ctime
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exception
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algorithm
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stdio.h
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sys/types.h
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sys/time.h
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sys/stat.h
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unistd.h
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dirent.h
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fnmatch.h
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windows.h
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shlobj.h
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process.h
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io.h
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initializer_list
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utility
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X11/Xlib.h
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X11/Xutil.h
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X11/keysym.h
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pthread.h
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sys/ipc.h
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sys/shm.h
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X11/extensions/XShm.h
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X11/extensions/Xrandr.h
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omp.h
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cstddef
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cv.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/cv.h
|
||||
highgui.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/highgui.h
|
||||
png.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/png.h
|
||||
jpeglib.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/jpeglib.h
|
||||
setjmp.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/setjmp.h
|
||||
tiffio.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/tiffio.h
|
||||
minc_io_simple_volume.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/minc_io_simple_volume.h
|
||||
minc_1_simple.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/minc_1_simple.h
|
||||
minc_1_simple_rw.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/minc_1_simple_rw.h
|
||||
zlib.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/zlib.h
|
||||
curl/curl.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/curl/curl.h
|
||||
Magick++.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/Magick++.h
|
||||
fftw3.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fftw3.h
|
||||
Board.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/Board.h
|
||||
ImfRgbaFile.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ImfRgbaFile.h
|
||||
ImfInputFile.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ImfInputFile.h
|
||||
ImfChannelList.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ImfChannelList.h
|
||||
ImfMatrixAttribute.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ImfMatrixAttribute.h
|
||||
ImfArray.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ImfArray.h
|
||||
tinyexr.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/tinyexr.h
|
||||
CImg.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CImg.h
|
||||
stdint.h
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
demo_lib_sift.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
|
||||
frot.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
|
||||
fproj.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
|
||||
vector
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
demo_lib_sift.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
|
||||
frot.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
|
||||
fproj.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
|
||||
vector
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
|
||||
stdlib.h
|
||||
-
|
||||
assert.h
|
||||
-
|
||||
numerics1.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
filter.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/filter.h
|
||||
domain.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/domain.h
|
||||
splines.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
|
||||
flimage.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/flimage.h
|
||||
vector
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/domain.h
|
||||
numerics1.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
splines.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/filter.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/flimage.h
|
||||
iostream
|
||||
-
|
||||
string
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
vector
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
vector
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
stdio.h
|
||||
-
|
||||
stdlib.h
|
||||
-
|
||||
math.h
|
||||
-
|
||||
time.h
|
||||
-
|
||||
float.h
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
|
||||
stdio.h
|
||||
-
|
||||
stdlib.h
|
||||
-
|
||||
math.h
|
||||
-
|
||||
fstream
|
||||
-
|
||||
iostream
|
||||
-
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
|
||||
numerics1.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
|
||||
library.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
|
||||
string.h
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/string.h
|
||||
vector
|
||||
-
|
||||
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
|
||||
ASIFT_matcher.hpp
|
||||
/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
|
||||
|
||||
/usr/include/opencv/cv.h
|
||||
opencv2/core/core_c.h
|
||||
/usr/include/opencv/opencv2/core/core_c.h
|
||||
opencv2/core/core.hpp
|
||||
/usr/include/opencv/opencv2/core/core.hpp
|
||||
opencv2/imgproc/imgproc_c.h
|
||||
/usr/include/opencv/opencv2/imgproc/imgproc_c.h
|
||||
opencv2/imgproc/imgproc.hpp
|
||||
/usr/include/opencv/opencv2/imgproc/imgproc.hpp
|
||||
opencv2/video/tracking.hpp
|
||||
/usr/include/opencv/opencv2/video/tracking.hpp
|
||||
opencv2/features2d/features2d.hpp
|
||||
/usr/include/opencv/opencv2/features2d/features2d.hpp
|
||||
opencv2/flann/flann.hpp
|
||||
/usr/include/opencv/opencv2/flann/flann.hpp
|
||||
opencv2/calib3d/calib3d.hpp
|
||||
/usr/include/opencv/opencv2/calib3d/calib3d.hpp
|
||||
opencv2/objdetect/objdetect.hpp
|
||||
/usr/include/opencv/opencv2/objdetect/objdetect.hpp
|
||||
opencv2/legacy/compat.hpp
|
||||
/usr/include/opencv/opencv2/legacy/compat.hpp
|
||||
opencv2/core/internal.hpp
|
||||
/usr/include/opencv/opencv2/core/internal.hpp
|
||||
|
||||
/usr/include/opencv/highgui.h
|
||||
opencv2/core/core_c.h
|
||||
/usr/include/opencv/opencv2/core/core_c.h
|
||||
opencv2/core/core.hpp
|
||||
/usr/include/opencv/opencv2/core/core.hpp
|
||||
opencv2/highgui/highgui_c.h
|
||||
/usr/include/opencv/opencv2/highgui/highgui_c.h
|
||||
opencv2/highgui/highgui.hpp
|
||||
/usr/include/opencv/opencv2/highgui/highgui.hpp
|
||||
|
||||
|
|
|
|||
|
|
@ -38,7 +38,6 @@ SET(CMAKE_C_TARGET_INCLUDE_PATH
|
|||
"."
|
||||
"./io_png"
|
||||
"./io_png/libs/png"
|
||||
"/usr/include/opencv"
|
||||
)
|
||||
SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
|
||||
SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
|
||||
|
|
|
|||
Binary file not shown.
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|
|
@ -3,11 +3,11 @@
|
|||
|
||||
# compile C with /usr/bin/cc
|
||||
# compile CXX with /usr/bin/c++
|
||||
C_FLAGS = -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png -I/usr/include/opencv
|
||||
C_FLAGS = -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png
|
||||
|
||||
C_DEFINES =
|
||||
|
||||
CXX_FLAGS = -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11 -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png -I/usr/include/opencv
|
||||
CXX_FLAGS = -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11 -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/./io_png/libs/png
|
||||
|
||||
CXX_DEFINES =
|
||||
|
||||
|
|
|
|||
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|
|
@ -45,13 +45,14 @@ set(ASIFT_srcs
|
|||
|
||||
include_directories(.
|
||||
./io_png
|
||||
./io_png/libs/png)
|
||||
./io_png/libs/png
|
||||
)
|
||||
|
||||
|
||||
add_executable(demo_ASIFT demo_ASIFT.cpp ${ASIFT_srcs})
|
||||
TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)
|
||||
|
||||
find_package( OpenCV REQUIRED )
|
||||
#find_package( OpenCV REQUIRED )
|
||||
add_executable(test_ASIFT test_ASIFT.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
|
||||
TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics X11) #${OpenCV_LIBS})
|
||||
TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics X11)
|
||||
|
||||
|
|
|
|||
|
|
@ -27,8 +27,8 @@ IF(CMAKE_COMPILER_IS_GNUCXX)
|
|||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra -Wno-write-strings")
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated -ansi")
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops")
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L/usr/X11R6/lib -lm -lpthread -lX11")
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
||||
ENDIF(CMAKE_COMPILER_IS_GNUCXX)
|
||||
|
||||
|
||||
|
|
@ -45,13 +45,14 @@ set(ASIFT_srcs
|
|||
|
||||
include_directories(.
|
||||
./io_png
|
||||
./io_png/libs/png)
|
||||
./io_png/libs/png
|
||||
)
|
||||
|
||||
|
||||
add_executable(demo_ASIFT demo_ASIFT.cpp ${ASIFT_srcs})
|
||||
TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)
|
||||
|
||||
find_package( OpenCV REQUIRED )
|
||||
#find_package( OpenCV REQUIRED )
|
||||
add_executable(test_ASIFT test_ASIFT.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
|
||||
TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics X11 ${OpenCV_LIBS})
|
||||
TARGET_LINK_LIBRARIES(test_ASIFT zlib Match Numerics X11)
|
||||
|
||||
|
|
|
|||
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195
asift_match/CMakeLists.txt
Normal file
195
asift_match/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,195 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(asift_matching)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(cmake_modules)
|
||||
IF(cmake_modules_FOUND)
|
||||
find_package(Eigen REQUIRED)
|
||||
ELSE()
|
||||
find_package(Eigen3 REQUIRED)
|
||||
set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
|
||||
ENDIF()
|
||||
|
||||
FIND_PACKAGE(OpenMP)
|
||||
if (OPENMP_FOUND)
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
|
||||
endif (OPENMP_FOUND)
|
||||
|
||||
IF(MSVC)
|
||||
ADD_DEFINITIONS(/arch:SSE2)
|
||||
ENDIF(MSVC)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
tf
|
||||
rospy
|
||||
pcl_conversions
|
||||
pcl_ros
|
||||
sensor_msgs
|
||||
)
|
||||
#find_package(Eigen3 REQUIRED)
|
||||
#find_package(cmake_modules REQUIRED)
|
||||
|
||||
## Compile as C++11, supported in ROS Kinetic and newer
|
||||
#add_compile_options(-std=c++11)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11")
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||
## but can be declared for certainty nonetheless:
|
||||
## * add a exec_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
#add_message_files(
|
||||
# FILES
|
||||
#)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
|
||||
# FILES
|
||||
# Service1.srv
|
||||
# Service2.srv
|
||||
# )
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
#generate_messages(
|
||||
# DEPENDENCIES
|
||||
# std_msgs
|
||||
# geometry_msgs
|
||||
#)
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
#CATKIN_DEPENDS roscpp tf message_runtime
|
||||
#INCLUDE_DIRS include
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
set(ASIFT_srcs
|
||||
src/numerics1.cpp src/frot.cpp src/splines.cpp src/fproj.cpp
|
||||
src/library.cpp src/flimage.cpp src/filter.cpp
|
||||
src/demo_lib_sift.cpp src/compute_asift_keypoints.cpp
|
||||
src/compute_asift_matches.cpp
|
||||
src/orsa.cpp
|
||||
src/ASIFT_matcher.cpp
|
||||
src/ROS_matcher.cpp
|
||||
src/ROS_matcher_node.cpp
|
||||
)
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
.
|
||||
#include
|
||||
${catkin_INCLUDE_DIRS}
|
||||
${Eigen_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
## The recommended prefix ensures that target names across packages don't collide
|
||||
add_executable(ASIFT_matcher ${ASIFT_srcs})
|
||||
target_link_libraries(ASIFT_matcher
|
||||
${catkin_LIBRARIES}
|
||||
${Eigen_LIBRARIES}
|
||||
X11
|
||||
)
|
||||
|
||||
|
||||
## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
#add_dependencies(ASIFT_matcher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
|
||||
#install(PROGRAMS
|
||||
#scripts/basic_controls.py
|
||||
#scripts/cube.py
|
||||
#scripts/menu.py
|
||||
#scripts/simple_marker.py
|
||||
#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
#)
|
||||
|
||||
## Mark executables and/or libraries for installation
|
||||
#install(TARGETS
|
||||
# ASIFT_matcher
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
#)
|
||||
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
192
asift_match/CMakeLists.txt~
Normal file
192
asift_match/CMakeLists.txt~
Normal file
|
|
@ -0,0 +1,192 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(asift_matching)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(cmake_modules)
|
||||
IF(cmake_modules_FOUND)
|
||||
find_package(Eigen REQUIRED)
|
||||
ELSE()
|
||||
find_package(Eigen3 REQUIRED)
|
||||
set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
|
||||
ENDIF()
|
||||
|
||||
FIND_PACKAGE(OpenMP)
|
||||
if (OPENMP_FOUND)
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
|
||||
endif (OPENMP_FOUND)
|
||||
|
||||
IF(MSVC)
|
||||
ADD_DEFINITIONS(/arch:SSE2)
|
||||
ENDIF(MSVC)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
tf
|
||||
rospy
|
||||
)
|
||||
#find_package(Eigen3 REQUIRED)
|
||||
#find_package(cmake_modules REQUIRED)
|
||||
|
||||
## Compile as C++11, supported in ROS Kinetic and newer
|
||||
#add_compile_options(-std=c++11)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11")
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||
## but can be declared for certainty nonetheless:
|
||||
## * add a exec_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
#add_message_files(
|
||||
# FILES
|
||||
#)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
|
||||
# FILES
|
||||
# Service1.srv
|
||||
# Service2.srv
|
||||
# )
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
#generate_messages(
|
||||
# DEPENDENCIES
|
||||
# std_msgs
|
||||
# geometry_msgs
|
||||
#)
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
#CATKIN_DEPENDS roscpp tf message_runtime
|
||||
#INCLUDE_DIRS include
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
set(ASIFT_srcs
|
||||
src/numerics1.cpp src/frot.cpp src/splines.cpp src/fproj.cpp
|
||||
src/library.cpp src/flimage.cpp src/filter.cpp
|
||||
src/demo_lib_sift.cpp src/compute_asift_keypoints.cpp
|
||||
src/compute_asift_matches.cpp
|
||||
src/orsa.cpp
|
||||
src/ASIFT_matcher.cpp
|
||||
src/ROS_matcher.cpp
|
||||
src/ROS_matcher_node.cpp
|
||||
)
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
.
|
||||
#include
|
||||
${catkin_INCLUDE_DIRS}
|
||||
${Eigen_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
## The recommended prefix ensures that target names across packages don't collide
|
||||
add_executable(ASIFT_matcher ${ASIFT_srcs})
|
||||
target_link_libraries(ASIFT_matcher
|
||||
${catkin_LIBRARIES}
|
||||
${Eigen_LIBRARIES}
|
||||
X11
|
||||
)
|
||||
|
||||
|
||||
## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
#add_dependencies(ASIFT_matcher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
|
||||
#install(PROGRAMS
|
||||
#scripts/basic_controls.py
|
||||
#scripts/cube.py
|
||||
#scripts/menu.py
|
||||
#scripts/simple_marker.py
|
||||
#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
#)
|
||||
|
||||
## Mark executables and/or libraries for installation
|
||||
#install(TARGETS
|
||||
# ASIFT_matcher
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
#)
|
||||
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
73
asift_match/package.xml
Normal file
73
asift_match/package.xml
Normal file
|
|
@ -0,0 +1,73 @@
|
|||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>asift_matching</name>
|
||||
<version>0.0.0</version>
|
||||
<description>ASIFT based matching package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="blue@todo.todo">blue</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>DREAM</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/rviz_interface</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>tf</build_depend>
|
||||
<build_depend>pcl_conversions</build_depend>
|
||||
<build_depend>pcl_ros</build_depend>
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
<build_depend>libpcl-all-dev</build_depend>
|
||||
|
||||
<run_depend>libpcl-all</run_depend>
|
||||
<run_depend>pcl_conversions</run_depend>
|
||||
<run_depend>pcl_ros</run_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>sensor_msgs</run_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>tf</run_depend>
|
||||
<!--run_depend>message_runtime</run_depend-->
|
||||
|
||||
<export>
|
||||
|
||||
</export>
|
||||
</package>
|
||||
79
asift_match/package.xml~
Normal file
79
asift_match/package.xml~
Normal file
|
|
@ -0,0 +1,79 @@
|
|||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>asift_matching</name>
|
||||
<version>0.0.0</version>
|
||||
<description>ASIFT based matching package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="blue@todo.todo">blue</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>DREAM</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/rviz_interface</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>tf</build_depend>
|
||||
<build_depend>pcl_conversions</build_depend>
|
||||
<build_depend>pcl_ros</build_depend>
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
|
||||
<build_export_depend>pcl_conversions</build_export_depend>
|
||||
<build_export_depend>pcl_ros</build_export_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>sensor_msgs</build_export_depend>
|
||||
|
||||
<exec_depend>pcl_conversions</exec_depend>
|
||||
<exec_depend>pcl_ros</exec_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>sensor_msgs</exec_depend>
|
||||
|
||||
<build_depend>libpcl-all-dev</build_depend>
|
||||
<exec_depend>libpcl-all</exec_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>tf</run_depend>
|
||||
<!--run_depend>message_runtime</run_depend-->
|
||||
|
||||
<export>
|
||||
|
||||
</export>
|
||||
</package>
|
||||
717
asift_match/src/ASIFT_matcher.cpp
Normal file
717
asift_match/src/ASIFT_matcher.cpp
Normal file
|
|
@ -0,0 +1,717 @@
|
|||
#include "ASIFT_matcher.hpp"
|
||||
|
||||
ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false)
|
||||
{
|
||||
default_sift_parameters(_siftParam);
|
||||
}
|
||||
|
||||
ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
|
||||
{
|
||||
if(!loadReferences(ref_path))
|
||||
{
|
||||
std::cerr<<"Error : Failed to load references"<<std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// ASIFT_matcher::~ASIFT_matcher()
|
||||
// {
|
||||
|
||||
// }
|
||||
|
||||
//Return true if successfull
|
||||
bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
|
||||
{
|
||||
///// Read input
|
||||
// float * iarr1;
|
||||
// size_t w1, h1;
|
||||
// if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
|
||||
// std::cerr << "Unable to load image file " << image_path << std::endl;
|
||||
// return false;
|
||||
// }
|
||||
// std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
|
||||
// free(iarr1); /*memcheck*/
|
||||
|
||||
// cout<<"Size : "<<w1<<"/"<<h1<<" - "<<ipixels1.size()<<endl;
|
||||
|
||||
cimg_library::CImg<float> image;
|
||||
try
|
||||
{
|
||||
image.assign(image_path);
|
||||
}
|
||||
catch(cimg_library::CImgIOException)
|
||||
{
|
||||
std::cerr << "Unable to load image file " << image_path << std::endl;
|
||||
return false;
|
||||
}
|
||||
//Convert to grayscale
|
||||
cimg_library::CImg<float> gray(image.width(), image.height(), 1, 1, 0);
|
||||
cimg_forXY(image,x,y) {
|
||||
// Separation of channels
|
||||
int R = (int)image(x,y,0,0);
|
||||
int G = (int)image(x,y,0,1);
|
||||
int B = (int)image(x,y,0,2);
|
||||
// Arithmetic addition of channels for gray
|
||||
// int grayValue = (int)(0.33*R + 0.33*G + 0.33*B);
|
||||
// Real weighted addition of channels for gray
|
||||
int grayValueWeight = (int)(0.299*R + 0.587*G + 0.114*B);
|
||||
// saving píxel values into image information
|
||||
// gray(x,y,0,0) = grayValue;
|
||||
gray(x,y,0,0) = grayValueWeight;
|
||||
}
|
||||
|
||||
std::vector<float> ipixels1;
|
||||
size_t w1=gray.width(), h1=gray.height();
|
||||
ipixels1.assign(gray.begin(), gray.end());
|
||||
|
||||
std::cout<<"Building reference from "<< image_path << std::endl;
|
||||
|
||||
return addReference(ipixels1, w1, h1, num_tilts);
|
||||
}
|
||||
|
||||
//Image : Gray scale image (image size = w*h)
|
||||
bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
|
||||
{
|
||||
if(image.size()!=w*h)
|
||||
{
|
||||
cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
int w1=w, h1=h;
|
||||
vector<float> ipixels1 = image;
|
||||
|
||||
///// Resize the images to area wS*hW in remaining the apsect-ratio
|
||||
///// Resize if the resize flag is not set or if the flag is set unequal to 0
|
||||
float wS = IM_X;
|
||||
float hS = IM_Y;
|
||||
|
||||
float zoom1=0;
|
||||
int wS1=0, hS1=0;
|
||||
vector<float> ipixels1_zoom;
|
||||
|
||||
if(_resize_imgs)
|
||||
{
|
||||
cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl
|
||||
<< " But the results will be normalized to the original image size." << endl << endl;
|
||||
|
||||
float InitSigma_aa = 1.6;
|
||||
|
||||
float fproj_p, fproj_bg;
|
||||
char fproj_i;
|
||||
float *fproj_x4, *fproj_y4;
|
||||
int fproj_o;
|
||||
|
||||
fproj_o = 3;
|
||||
fproj_p = 0;
|
||||
fproj_i = 0;
|
||||
fproj_bg = 0;
|
||||
fproj_x4 = 0;
|
||||
fproj_y4 = 0;
|
||||
|
||||
float areaS = wS * hS;
|
||||
|
||||
// Resize image 1
|
||||
float area1 = w1 * h1;
|
||||
zoom1 = sqrt(area1/areaS);
|
||||
|
||||
wS1 = (int) (w1 / zoom1);
|
||||
hS1 = (int) (h1 / zoom1);
|
||||
|
||||
int fproj_sx = wS1;
|
||||
int fproj_sy = hS1;
|
||||
|
||||
float fproj_x1 = 0;
|
||||
float fproj_y1 = 0;
|
||||
float fproj_x2 = wS1;
|
||||
float fproj_y2 = 0;
|
||||
float fproj_x3 = 0;
|
||||
float fproj_y3 = hS1;
|
||||
|
||||
/* Anti-aliasing filtering along vertical direction */
|
||||
if ( zoom1 > 1 )
|
||||
{
|
||||
float sigma_aa = InitSigma_aa * zoom1 / 2;
|
||||
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
|
||||
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
|
||||
}
|
||||
|
||||
// simulate a tilt: subsample the image along the vertical axis by a factor of t.
|
||||
ipixels1_zoom.resize(wS1*hS1);
|
||||
fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p,
|
||||
&fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4);
|
||||
}
|
||||
else
|
||||
{
|
||||
ipixels1_zoom.resize(w1*h1);
|
||||
ipixels1_zoom = ipixels1;
|
||||
wS1 = w1;
|
||||
hS1 = h1;
|
||||
zoom1 = 1;
|
||||
}
|
||||
|
||||
///// Compute ASIFT keypoints
|
||||
asift_keypoints keys;
|
||||
int num_keys = 0;
|
||||
|
||||
time_t tstart, tend;
|
||||
tstart = time(0);
|
||||
|
||||
num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam);
|
||||
|
||||
tend = time(0);
|
||||
|
||||
//Save data
|
||||
_im_refs.push_back(ipixels1_zoom);
|
||||
_size_refs.push_back(make_pair(wS1,hS1));
|
||||
_zoom_refs.push_back(zoom1);
|
||||
|
||||
_num_keys.push_back(num_keys);
|
||||
_num_tilts.push_back(num_tilts);
|
||||
_keys.push_back(keys);
|
||||
|
||||
_nb_refs++;
|
||||
|
||||
cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl;
|
||||
cout<<" "<< num_keys <<" ASIFT keypoints found."<< endl;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
//Return number of match
|
||||
unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
|
||||
{
|
||||
if(_nb_refs<=0)
|
||||
{
|
||||
cout<<"ASIFT_matcher Error : Trying to match without reference"<<endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
///// Read input
|
||||
// float * iarr1;
|
||||
// size_t w1, h1;
|
||||
// if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
|
||||
// std::cerr << "Unable to load image file " << image_path << std::endl;
|
||||
// return 1;
|
||||
// }
|
||||
// std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
|
||||
// free(iarr1); /*memcheck*/
|
||||
|
||||
cimg_library::CImg<float> image;
|
||||
try
|
||||
{
|
||||
image.assign(image_path);
|
||||
}
|
||||
catch(cimg_library::CImgIOException)
|
||||
{
|
||||
std::cerr << "Unable to load image file " << image_path << std::endl;
|
||||
return 0;
|
||||
}
|
||||
//Convert to grayscale
|
||||
cimg_library::CImg<float> gray(image.width(), image.height(), 1, 1, 0);
|
||||
cimg_forXY(image,x,y) {
|
||||
// Separation of channels
|
||||
int R = (int)image(x,y,0,0);
|
||||
int G = (int)image(x,y,0,1);
|
||||
int B = (int)image(x,y,0,2);
|
||||
// Arithmetic addition of channels for gray
|
||||
// int grayValue = (int)(0.33*R + 0.33*G + 0.33*B);
|
||||
// Real weighted addition of channels for gray
|
||||
int grayValueWeight = (int)(0.299*R + 0.587*G + 0.114*B);
|
||||
// saving píxel values into image information
|
||||
// gray(x,y,0,0) = grayValue;
|
||||
gray(x,y,0,0) = grayValueWeight;
|
||||
}
|
||||
vector<float> ipixels1;
|
||||
size_t w1=gray.width(), h1=gray.height();
|
||||
ipixels1.assign(gray.begin(), gray.end());
|
||||
|
||||
std::cout<<"Matching from "<<image_path<<std::endl;
|
||||
|
||||
return match(ipixels1, w1, h1, num_tilts);
|
||||
}
|
||||
|
||||
//Image : Gray scale image (image size = w*h)
|
||||
//Return number of match
|
||||
unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
|
||||
{
|
||||
if(image.size()!=w*h)
|
||||
{
|
||||
cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int w1=w, h1=h;
|
||||
vector<float> ipixels1 = image;
|
||||
|
||||
///// Resize the images to area wS*hW in remaining the apsect-ratio
|
||||
///// Resize if the resize flag is not set or if the flag is set unequal to 0
|
||||
float wS = IM_X;
|
||||
float hS = IM_Y;
|
||||
|
||||
float zoom1=0;
|
||||
int wS1=0, hS1=0;
|
||||
vector<float> ipixels1_zoom;
|
||||
|
||||
if(_resize_imgs)
|
||||
{
|
||||
cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl
|
||||
<< " But the results will be normalized to the original image size." << endl << endl;
|
||||
|
||||
float InitSigma_aa = 1.6;
|
||||
|
||||
float fproj_p, fproj_bg;
|
||||
char fproj_i;
|
||||
float *fproj_x4, *fproj_y4;
|
||||
int fproj_o;
|
||||
|
||||
fproj_o = 3;
|
||||
fproj_p = 0;
|
||||
fproj_i = 0;
|
||||
fproj_bg = 0;
|
||||
fproj_x4 = 0;
|
||||
fproj_y4 = 0;
|
||||
|
||||
float areaS = wS * hS;
|
||||
|
||||
// Resize image 1
|
||||
float area1 = w1 * h1;
|
||||
zoom1 = sqrt(area1/areaS);
|
||||
|
||||
wS1 = (int) (w1 / zoom1);
|
||||
hS1 = (int) (h1 / zoom1);
|
||||
|
||||
int fproj_sx = wS1;
|
||||
int fproj_sy = hS1;
|
||||
|
||||
float fproj_x1 = 0;
|
||||
float fproj_y1 = 0;
|
||||
float fproj_x2 = wS1;
|
||||
float fproj_y2 = 0;
|
||||
float fproj_x3 = 0;
|
||||
float fproj_y3 = hS1;
|
||||
|
||||
/* Anti-aliasing filtering along vertical direction */
|
||||
if ( zoom1 > 1 )
|
||||
{
|
||||
float sigma_aa = InitSigma_aa * zoom1 / 2;
|
||||
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
|
||||
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
|
||||
}
|
||||
|
||||
// simulate a tilt: subsample the image along the vertical axis by a factor of t.
|
||||
ipixels1_zoom.resize(wS1*hS1);
|
||||
fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p,
|
||||
&fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4);
|
||||
}
|
||||
else
|
||||
{
|
||||
ipixels1_zoom.resize(w1*h1);
|
||||
ipixels1_zoom = ipixels1;
|
||||
wS1 = w1;
|
||||
hS1 = h1;
|
||||
zoom1 = 1;
|
||||
}
|
||||
|
||||
///// Compute ASIFT keypoints
|
||||
asift_keypoints keys;
|
||||
int num_keys = 0;
|
||||
|
||||
time_t tstart, tend;
|
||||
tstart = time(0);
|
||||
|
||||
num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam);
|
||||
|
||||
tend = time(0);
|
||||
cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl;
|
||||
cout<<" "<< num_keys <<" ASIFT keypoints found."<< endl;
|
||||
|
||||
//// Match ASIFT keypoints
|
||||
_total_num_matchings=0;
|
||||
|
||||
for(unsigned int i = 0; i<_nb_refs;i++)
|
||||
{
|
||||
int num_matchings = 0;
|
||||
matchingslist matchings;
|
||||
|
||||
cout << "Matching the keypoints..." << endl;
|
||||
tstart = time(0);
|
||||
try
|
||||
{
|
||||
num_matchings = compute_asift_matches(num_tilts, _num_tilts[i], w, h, _size_refs[i].first, _size_refs[i].second, _showDebug, keys, _keys[i], matchings, _siftParam);
|
||||
}
|
||||
catch(const bad_alloc& ba)
|
||||
{
|
||||
cerr<<"ERROR: ASIFT_matcher::match - ";
|
||||
cerr << ba.what() << endl;
|
||||
}
|
||||
// cout<< _keys[i].size()<< " " << _keys[i][0].size() <<" "<< _keys[i][0][0].size()<<endl;
|
||||
|
||||
tend = time(0);
|
||||
cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
|
||||
|
||||
_num_matchings.push_back(num_matchings);
|
||||
_total_num_matchings += num_matchings;
|
||||
_matchings.push_back(matchings);
|
||||
}
|
||||
|
||||
return _total_num_matchings;
|
||||
}
|
||||
|
||||
//Return true if successfull
|
||||
bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
|
||||
{
|
||||
if(getNbMatch()==0)
|
||||
{
|
||||
cerr<<"Error : cannot compute ROI without matchs"<<endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
pair<int,int> upLe, doRi; //UpLeft / DownRight
|
||||
//Initialisation
|
||||
for(unsigned int i=0;i<_matchings.size();i++)
|
||||
{
|
||||
if(getNbMatchs()[i]!=0)
|
||||
{
|
||||
upLe = make_pair(_matchings[i][0].first.x,_matchings[i][0].first.y);
|
||||
doRi = make_pair(_matchings[i][0].first.x,_matchings[i][0].first.y);
|
||||
}
|
||||
}
|
||||
|
||||
//Compute ROI
|
||||
for(unsigned int i=0;i<_matchings.size();i++)
|
||||
{
|
||||
for(unsigned int j=0;j<_matchings[i].size();j++)
|
||||
{
|
||||
keypoint kp = _matchings[i][j].first;
|
||||
if(kp.x<upLe.first)
|
||||
upLe.first = kp.x;
|
||||
if(kp.y<upLe.second)
|
||||
upLe.second=kp.y;
|
||||
if(kp.x>doRi.first)
|
||||
doRi.first=kp.x;
|
||||
if(kp.y>doRi.second)
|
||||
doRi.second=kp.y;
|
||||
}
|
||||
}
|
||||
x=upLe.first; //Système de coordonée ? (devrait etre bon)
|
||||
y=upLe.second;
|
||||
h=doRi.second-y;
|
||||
w=doRi.first-x;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
//Return true if successfull
|
||||
bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
|
||||
{
|
||||
if(getNbMatch()==0)
|
||||
{
|
||||
cerr<<"Error : cannot compute Center without matchs"<<endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
unsigned int total_kp =0;
|
||||
cx=0;cy=0;
|
||||
for(unsigned int i=0;i<_matchings.size();i++)
|
||||
{
|
||||
for(unsigned int j=0;j<_matchings[i].size();j++)
|
||||
{
|
||||
keypoint kp = _matchings[i][j].first;
|
||||
cx+=kp.x;
|
||||
cy+=kp.y;
|
||||
}
|
||||
total_kp += _matchings[i].size();
|
||||
}
|
||||
cx/=total_kp;
|
||||
cy/=total_kp;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
//Filter keypoint which are far (Euclidian distance) from the center.
|
||||
//Not optimized
|
||||
//threshold : 1-68%/2-95%/3-99%
|
||||
//Return true if successfull
|
||||
bool ASIFT_matcher::distFilter(int threshold=2)
|
||||
{
|
||||
cout<<"filtering keypoint..."<<endl;
|
||||
if(getNbMatch()==0)
|
||||
{
|
||||
cerr<<"Error : cannot filter points without matchs"<<endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
//Compute standard deviation
|
||||
int cx, cy;
|
||||
unsigned int total_kp =0;
|
||||
unsigned int euc_dist, dist_avg =0, dist_var=0, std_dev;
|
||||
vector< vector< int > > kp_euc_dist;
|
||||
|
||||
if(computeCenter(cx,cy))
|
||||
{
|
||||
// cout<<"Center : "<<cx<<" / "<<cy<<endl;
|
||||
|
||||
//Compute means/average distance to center + euclidian distances to center for each keypoint
|
||||
for(unsigned int i=0;i<_matchings.size();i++)
|
||||
{
|
||||
vector<int> temp_euc_dist;
|
||||
for(unsigned int j=0;j<_matchings[i].size();j++)
|
||||
{
|
||||
keypoint kp = _matchings[i][j].first;
|
||||
euc_dist =sqrt((kp.x-cx)*(kp.x-cx)+(kp.y-cy)+(kp.y-cy));
|
||||
dist_avg+=euc_dist;
|
||||
temp_euc_dist.push_back(euc_dist);
|
||||
}
|
||||
total_kp += _matchings[i].size();
|
||||
kp_euc_dist.push_back(temp_euc_dist);
|
||||
}
|
||||
dist_avg/=total_kp;
|
||||
// cout<<"Dist avg: "<<dist_avg<<endl;
|
||||
|
||||
//Compute variance
|
||||
for(unsigned int i=0;i<_matchings.size();i++)
|
||||
{
|
||||
for(unsigned int j=0;j<_matchings[i].size();j++)
|
||||
{
|
||||
euc_dist =kp_euc_dist[i][j];
|
||||
dist_var+=(euc_dist-dist_avg)*(euc_dist-dist_avg);
|
||||
}
|
||||
}
|
||||
dist_var/=total_kp;
|
||||
|
||||
//Compute standard deviation
|
||||
std_dev=sqrt(dist_var);
|
||||
// cout<<"Standard Deviation : "<<std_dev<<endl;
|
||||
|
||||
//Filter
|
||||
vector< matchingslist > filtered_match;
|
||||
|
||||
for(unsigned int i=0;i<_matchings.size();i++)
|
||||
{
|
||||
matchingslist new_match;
|
||||
for(unsigned int j=0;j<_matchings[i].size();j++)
|
||||
{
|
||||
euc_dist =kp_euc_dist[i][j];
|
||||
|
||||
if(euc_dist<dist_avg+threshold*std_dev) //Filtering Condition
|
||||
{
|
||||
new_match.push_back(_matchings[i][j]);
|
||||
}
|
||||
}
|
||||
filtered_match.push_back(new_match);
|
||||
_num_matchings[i]=new_match.size();
|
||||
}
|
||||
|
||||
//Save filtered matchs
|
||||
_matchings = filtered_match;
|
||||
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
//Save reference data necessary for the matching
|
||||
//Doesn't save references images or Sift parameters
|
||||
bool ASIFT_matcher::saveReferences(const char* ref_path) const
|
||||
{
|
||||
// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
|
||||
std::ofstream file_key1(ref_path);
|
||||
if (file_key1.is_open())
|
||||
{
|
||||
file_key1<<_nb_refs<<" "<<std::endl;
|
||||
for(unsigned int j=0; j<_keys.size();j++)
|
||||
{
|
||||
asift_keypoints kps =_keys[j];
|
||||
// Follow the same convention of David Lowe:
|
||||
// the first line contains the number of keypoints and the length of the desciptors (128)
|
||||
// Added number of tilts
|
||||
// Added sizes
|
||||
file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl; //<<_num_tilts[j] << " "
|
||||
for (int tt = 0; tt < (int) kps.size(); tt++)
|
||||
{
|
||||
for (int rr = 0; rr < (int) kps[tt].size(); rr++)
|
||||
{
|
||||
keypointslist::iterator ptr = kps[tt][rr].begin();
|
||||
for(int i=0; i < (int) kps[tt][rr].size(); i++, ptr++)
|
||||
{
|
||||
file_key1 << _zoom_refs[j]*ptr->x << " " << _zoom_refs[j]*ptr->y << " " << _zoom_refs[j]*ptr->scale << " " << ptr->angle;
|
||||
|
||||
for (int ii = 0; ii < (int) VecLength; ii++)
|
||||
{
|
||||
file_key1 << " " << ptr->vec[ii];
|
||||
}
|
||||
|
||||
file_key1 << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
// file_key1<<std::endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "Unable to open the file :"<<ref_path;
|
||||
return false;
|
||||
}
|
||||
|
||||
file_key1.close();
|
||||
return true;
|
||||
}
|
||||
|
||||
//Load reference data necessary for the matching
|
||||
//Doesn't load references images or Sift parameters
|
||||
//TODO : split data between different tilts
|
||||
bool ASIFT_matcher::loadReferences(const char* ref_path)
|
||||
{
|
||||
std::ifstream ref_file(ref_path);
|
||||
std::string line, tmp;
|
||||
std::stringstream iss;
|
||||
pair<int,int> size_tmp;
|
||||
if (ref_file.is_open())
|
||||
{
|
||||
std::getline(ref_file, line);
|
||||
std::string::size_type sz;
|
||||
// _nb_refs = std::stoi(line, &sz); //C++11
|
||||
_nb_refs = atoi(line.c_str());
|
||||
_keys = std::vector<asift_keypoints>(_nb_refs);
|
||||
_num_keys = std::vector< int >(_nb_refs);
|
||||
_size_refs= std::vector< pair<int,int> >(_nb_refs);
|
||||
_num_tilts = std::vector< int >(_nb_refs,1);
|
||||
_zoom_refs = std::vector<float>(_nb_refs,1);
|
||||
for(unsigned int i = 0; i<_nb_refs;i++)
|
||||
{
|
||||
std::getline(ref_file, line);
|
||||
std::stringstream iss(line);
|
||||
|
||||
std::getline(iss,tmp,' ');
|
||||
_num_keys[i]=atoi(tmp.c_str());
|
||||
|
||||
std::getline(iss,tmp,' ');
|
||||
if(VecLength!=atoi(tmp.c_str()))
|
||||
{
|
||||
std::cerr<<"Error VecLength doesn't correspond..."<<std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// std::getline(iss,tmp,' ');
|
||||
// _num_tilts[i]=atoi(tmp.c_str());
|
||||
|
||||
std::getline(iss,tmp,' ');
|
||||
size_tmp.first=atoi(tmp.c_str());
|
||||
|
||||
std::getline(iss,tmp,' ');
|
||||
size_tmp.second=atoi(tmp.c_str());
|
||||
|
||||
_size_refs[i]=size_tmp;
|
||||
|
||||
keypointslist list;
|
||||
for(unsigned int j =0; j<(unsigned int)_num_keys[i];j++)
|
||||
{
|
||||
keypoint nkp;
|
||||
|
||||
std::getline(ref_file, line);
|
||||
std::stringstream iss(line);
|
||||
// if(j==0)
|
||||
// cout<<line<<endl;
|
||||
|
||||
std::getline(iss,tmp,' ');
|
||||
// std::stof(nb_ref, nkp.x); //C++11
|
||||
nkp.x=atof(tmp.c_str());
|
||||
// if(j<5)
|
||||
// cout<<"x : "<<nkp.x<<endl;
|
||||
std::getline(iss,tmp,' ');
|
||||
nkp.y=atof(tmp.c_str());
|
||||
// if(j<5)
|
||||
// cout<<"y : "<<nkp.y<<endl;
|
||||
std::getline(iss,tmp,' ');
|
||||
nkp.scale=atof(tmp.c_str());
|
||||
// if(j<5)
|
||||
// cout<<"Scale : "<<nkp.scale<<endl;
|
||||
std::getline(iss,tmp,' ');
|
||||
nkp.angle=atof(tmp.c_str());
|
||||
|
||||
for(unsigned int k=0; k<(int) VecLength; k++)
|
||||
{
|
||||
std::getline(iss,tmp,' ');
|
||||
nkp.vec[k]=atof(tmp.c_str());
|
||||
}
|
||||
|
||||
list.push_back(nkp);
|
||||
// if(j<5)
|
||||
// {
|
||||
// cout<<"x : "<<list[j].x<<endl;
|
||||
// cout<<"y : "<<list[j].y<<endl;
|
||||
// cout<<"Scale : "<<list[j].scale<<endl;
|
||||
// }
|
||||
|
||||
}
|
||||
std::vector< keypointslist > vkps(1,list);
|
||||
asift_keypoints akps(1,vkps);
|
||||
_keys[i]=akps;
|
||||
// std::getline(ref_file, line);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "Unable to open the file :"<<ref_path;
|
||||
return false;
|
||||
}
|
||||
|
||||
ref_file.close();
|
||||
return true;
|
||||
}
|
||||
|
||||
ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
|
||||
{
|
||||
|
||||
_nb_refs=m.getNbRef();
|
||||
_im_refs=m.getRefImgs();
|
||||
_size_refs=m.getSizeRef();
|
||||
_zoom_refs=m.getZoomRef();
|
||||
|
||||
_num_keys=m.getNumKeys();
|
||||
_num_tilts=m.getNumTilts();
|
||||
_keys=m.getKeys();
|
||||
|
||||
_total_num_matchings=m.getNbMatch();
|
||||
_num_matchings=getNbMatchs();
|
||||
_matchings=m.getMatch();
|
||||
|
||||
_siftParam=m.getSiftPar();
|
||||
|
||||
_resize_imgs=m.isResizingImg();
|
||||
_showDebug=m.isShowingDebug();
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
//Debugging function
|
||||
void ASIFT_matcher::print() const
|
||||
{
|
||||
for(unsigned int i=0; i< _keys.size();i++)
|
||||
{
|
||||
cout<<"Ref size:"<<i<<" - size :"<<_keys[i].size()<<endl;
|
||||
for(unsigned int j=0; j<_keys[i].size();j++)
|
||||
{
|
||||
cout<<" "<<j<<" - size :"<<_keys[i][j].size()<<endl;
|
||||
for(unsigned int k=0; k<_keys[i][j].size();k++)
|
||||
{
|
||||
cout<<" "<<k<<" - size :"<<_keys[i][j][k].size()<<endl;
|
||||
double sx=0,sy=0,ss=0,sa=0, sv=0;
|
||||
for(unsigned int l=0; l<_keys[i][j][k].size();l++)
|
||||
{
|
||||
sx+=_keys[i][j][k][l].x;
|
||||
sy+=_keys[i][j][k][l].y;
|
||||
ss+=_keys[i][j][k][l].scale;
|
||||
sa+=_keys[i][j][k][l].angle;
|
||||
for(unsigned int v=0;v<VecLength;v++)
|
||||
{
|
||||
sv+=_keys[i][j][k][l].vec[v];
|
||||
}
|
||||
// cout<<" "<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
|
||||
}
|
||||
cout<<" "<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
101
asift_match/src/ASIFT_matcher.hpp
Normal file
101
asift_match/src/ASIFT_matcher.hpp
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
#ifndef ASIFTMATCHER_HPP
|
||||
#define ASIFTMATCHER_HPP
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
#include <vector>
|
||||
#include <sstream>
|
||||
|
||||
#ifdef _OPENMP
|
||||
#include <omp.h>
|
||||
#endif
|
||||
|
||||
#include "demo_lib_sift.h"
|
||||
// #include "io_png/io_png.h"
|
||||
|
||||
#include "library.h"
|
||||
#include "frot.h"
|
||||
#include "fproj.h"
|
||||
#include "compute_asift_keypoints.h"
|
||||
#include "compute_asift_matches.h"
|
||||
|
||||
#include "CImg.h" //Need ImageMagick package
|
||||
|
||||
# define IM_X 800
|
||||
# define IM_Y 600
|
||||
|
||||
using namespace std;
|
||||
|
||||
typedef vector< vector< keypointslist > > asift_keypoints;
|
||||
|
||||
//ASIFT wrapper
|
||||
class ASIFT_matcher
|
||||
{
|
||||
public:
|
||||
ASIFT_matcher();
|
||||
ASIFT_matcher(const char* ref_path);
|
||||
ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;}
|
||||
// virtual ~ASIFT_matcher();
|
||||
|
||||
bool addReference(const char* image_path, unsigned int num_tilts=1);
|
||||
bool addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
|
||||
unsigned int match(const char* image_path, unsigned int num_tilts =1);
|
||||
unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
|
||||
bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the keypoints
|
||||
bool computeCenter(int& cx, int& cy) const;
|
||||
bool distFilter(int threshold); //Filter keypoint which are far (Euclidian distance) from the center.
|
||||
|
||||
bool saveReferences(const char* ref_path) const;
|
||||
bool loadReferences(const char* ref_path);
|
||||
|
||||
ASIFT_matcher& operator=(const ASIFT_matcher& m);
|
||||
|
||||
unsigned int getNbRef() const{ return _nb_refs;}
|
||||
const vector< vector< float > >& getRefImgs() const{ return _im_refs;}
|
||||
const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;}
|
||||
const vector<float>& getZoomRef() const{ return _zoom_refs;}
|
||||
const std::vector<int>& getNumKeys() const{ return _num_keys;}
|
||||
const std::vector<int>& getNumTilts() const{ return _num_tilts;}
|
||||
const std::vector< asift_keypoints >& getKeys() const{ return _keys;}
|
||||
const vector < unsigned int >& getNbMatchs() const{ return _num_matchings;}
|
||||
unsigned int getNbMatch() const{ return _total_num_matchings;}
|
||||
const vector< matchingslist >& getMatch() const{ return _matchings;}
|
||||
vector< matchingslist >& getMatch(){ return _matchings;}
|
||||
const siftPar& getSiftPar() const{ return _siftParam;}
|
||||
void setSiftPar(const siftPar &newSiftPar){ _siftParam = newSiftPar;}
|
||||
bool isResizingImg() const{ return _resize_imgs;}
|
||||
void setResizeImg(bool resize_imgs){ _resize_imgs=resize_imgs;}
|
||||
bool isShowingDebug() const{ return _showDebug;}
|
||||
void showDebug(bool showDebug){ _showDebug=showDebug;}
|
||||
|
||||
void print() const; //Debugging function
|
||||
|
||||
protected:
|
||||
|
||||
//Reference Images
|
||||
// vector< image > _im_refs;
|
||||
unsigned int _nb_refs;// = 0; //Number of reference images
|
||||
vector< vector< float > > _im_refs; //Reference images used for matching
|
||||
vector< pair<int,int> > _size_refs; //Width/Height
|
||||
vector<float> _zoom_refs; //Zoom coeffs
|
||||
|
||||
//ASIFT Keypoints
|
||||
vector< int > _num_keys; //Number of keypoint/reference
|
||||
vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision)
|
||||
vector< asift_keypoints > _keys; //Keypoints
|
||||
|
||||
//Matchs
|
||||
unsigned int _total_num_matchings;
|
||||
vector < unsigned int > _num_matchings; //Number of match/reference
|
||||
vector< matchingslist > _matchings; //Matchs
|
||||
|
||||
siftPar _siftParam; //SIFT parameters
|
||||
|
||||
//Flags
|
||||
bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ?
|
||||
bool _showDebug;// = 0; //Show debugging messages ?
|
||||
};
|
||||
|
||||
#endif
|
||||
60936
asift_match/src/CImg.h
Normal file
60936
asift_match/src/CImg.h
Normal file
File diff suppressed because it is too large
Load diff
57
asift_match/src/ROS_matcher.cpp
Normal file
57
asift_match/src/ROS_matcher.cpp
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
#include "ROS_matcher.hpp"
|
||||
|
||||
ROS_matcher::ROS_matcher(): _num_tilt(1), _status(MATCHER_STATUS_WAITING_INIT)
|
||||
{
|
||||
_center_pub = _nh.advertise<geometry_msgs::PointStamped>("/ROS_matcher/center", 10);
|
||||
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub(_nh, "/camera/rgb/camera_info", 1);
|
||||
message_filters::Subscriber<sensor_msgs::Image> image_sub(_nh, "/camera/rgb/image_raw", 1);
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> pointcloud_sub(_nh, "/camera/depth_registered/points", 1);
|
||||
message_filters::TimeSynchronizer<sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2> sync(info_sub, image_sub, pointcloud_sub, 10);
|
||||
sync.registerCallback(boost::bind(&ROS_matcher::cameraCallback, this, _1, _2, _3));
|
||||
|
||||
|
||||
unsigned int nb_ref =2;
|
||||
std::string refData[] = {
|
||||
"book_training/train_image_000.png",
|
||||
"book_training/train_image_001.png",
|
||||
"book_training/train_image_002.png",
|
||||
"book_training/train_image_003.png"};
|
||||
|
||||
for(unsigned int i=0; i<nb_ref;i++)
|
||||
{
|
||||
matcher.addReference(refData[i].c_str(), _num_tilt);
|
||||
}
|
||||
}
|
||||
|
||||
void ROS_matcher::cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::PointCloud2::ConstPtr& pointcloud_msg)
|
||||
{
|
||||
if(_status == MATCHER_STATUS_IDLE)
|
||||
{
|
||||
unsigned int width = image_msg->width, height = image_msg->height;
|
||||
std::vector<float> image(height*width);
|
||||
|
||||
//Conversion en niveau de gris
|
||||
if(image_msg->encoding == "yuv422")
|
||||
{
|
||||
for(unsigned int i=0; i<height*width; i++)
|
||||
{
|
||||
image[i]=image_msg->data[3*i];
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_WARN("Encoding doesn't correspond to yuv422");
|
||||
return;
|
||||
}
|
||||
|
||||
int nb_match=0;
|
||||
nb_match = matcher.match(image, width, height, _num_tilt);
|
||||
|
||||
ROS_INFO("Match : %d", nb_match);
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_INFO("Matcher not ready to process");
|
||||
}
|
||||
}
|
||||
45
asift_match/src/ROS_matcher.hpp
Normal file
45
asift_match/src/ROS_matcher.hpp
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
#ifndef ROSMATCHER_HPP
|
||||
#define ROSMATCHER_HPP
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <tf/tf.h>
|
||||
|
||||
#include <message_filters/subscriber.h>
|
||||
#include <message_filters/time_synchronizer.h>
|
||||
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <geometry_msgs/PointStamped.h>
|
||||
|
||||
#include "ASIFT_matcher.hpp"
|
||||
|
||||
enum MATCHER_STATUS{
|
||||
MATCHER_STATUS_IDLE=0,
|
||||
MATCHER_STATUS_PROCESSING,
|
||||
MATCHER_STATUS_WAITING_INIT};
|
||||
|
||||
class ROS_matcher
|
||||
{
|
||||
protected:
|
||||
ros::NodeHandle _nh;
|
||||
|
||||
//Publisher ROS
|
||||
ros::Publisher _center_pub;
|
||||
|
||||
//Subscriber ROS
|
||||
// ros::Subscriber _image_sub;
|
||||
|
||||
//Matcher
|
||||
int _num_tilt;
|
||||
ASIFT_matcher matcher;
|
||||
|
||||
MATCHER_STATUS _status;
|
||||
|
||||
public:
|
||||
ROS_matcher();
|
||||
// ~ROS_matcher();
|
||||
void cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, const sensor_msgs::Image::ConstPtr& image_msg, const sensor_msgs::PointCloud2::ConstPtr& pointcloud_msg);
|
||||
|
||||
};
|
||||
#endif
|
||||
12
asift_match/src/ROS_matcher_node.cpp
Normal file
12
asift_match/src/ROS_matcher_node.cpp
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
#include "ROS_matcher.hpp"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ros::init(argc, argv, "ROS_matcher");
|
||||
|
||||
ROS_matcher ros_matcher;
|
||||
|
||||
ros::spin();
|
||||
|
||||
return 0;
|
||||
}
|
||||
BIN
asift_match/src/book_training/train_image_000.png
Normal file
BIN
asift_match/src/book_training/train_image_000.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 522 KiB |
BIN
asift_match/src/book_training/train_image_001.png
Normal file
BIN
asift_match/src/book_training/train_image_001.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 552 KiB |
BIN
asift_match/src/book_training/train_image_002.png
Normal file
BIN
asift_match/src/book_training/train_image_002.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 484 KiB |
BIN
asift_match/src/book_training/train_image_003.png
Normal file
BIN
asift_match/src/book_training/train_image_003.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 458 KiB |
8
asift_match/src/book_training/train_image_005.yml~
Normal file
8
asift_match/src/book_training/train_image_005.yml~
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
Book cMo for training image 005
|
||||
rows: 4
|
||||
cols: 4
|
||||
data:
|
||||
- [-0.2314201876, -0.9583649151, 0.1672763771, 0.09835545579]
|
||||
- [0.7484075924, -0.06552319445, 0.6599945353, -0.0974700766]
|
||||
- [-0.6215551242, 0.2779269699, 0.7324109687, 0.5499983612]
|
||||
- [0; 0; 0; 1]
|
||||
8
asift_match/src/book_training/train_image_006.yml~
Normal file
8
asift_match/src/book_training/train_image_006.yml~
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
Book cMo for training image 008
|
||||
rows: 4
|
||||
cols: 4
|
||||
data:
|
||||
- [0.02063568325, -0.5653102458, -0.8246202123, 0.0403687505]
|
||||
- [0.8210674394, 0.4801939642, -0.3086454546, -0.1745029756]
|
||||
- [0.5704580865, -0.6706996964, 0.4740669666, 0.4630312508]
|
||||
- [0, 0, 0, 1]
|
||||
9
asift_match/src/book_training/train_image_007.yml~
Normal file
9
asift_match/src/book_training/train_image_007.yml~
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
Book cMo for training image 007
|
||||
rows: 4
|
||||
cols: 4
|
||||
data:
|
||||
- [-0.03609085509, -0.3148440768, 0.9484569877, 0.04713881051]
|
||||
- [-0.8006242946, 0.5771011583, 0.1611055304, 0.02971868344]
|
||||
- [-0.5980787482, -0.7535432704, -0.2728998912, 0.6240615433]
|
||||
- [0, 0, 0, 1]
|
||||
|
||||
569
asift_match/src/compute_asift_keypoints.cpp
Executable file
569
asift_match/src/compute_asift_keypoints.cpp
Executable file
|
|
@ -0,0 +1,569 @@
|
|||
// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
|
||||
// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
|
||||
//
|
||||
// WARNING:
|
||||
// This file implements an algorithm possibly linked to the patent
|
||||
//
|
||||
// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant
|
||||
// affine recognition recognition of shapes (WO/2009/150361), patent pending.
|
||||
//
|
||||
// This file is made available for the exclusive aim of serving as
|
||||
// scientific tool to verify of the soundness and
|
||||
// completeness of the algorithm description. Compilation,
|
||||
// execution and redistribution of this file may violate exclusive
|
||||
// patents rights in certain countries.
|
||||
// The situation being different for every country and changing
|
||||
// over time, it is your responsibility to determine which patent
|
||||
// rights restrictions apply to you before you compile, use,
|
||||
// modify, or redistribute this file. A patent lawyer is qualified
|
||||
// to make this determination.
|
||||
// If and only if they don't conflict with any patent terms, you
|
||||
// can benefit from the following license terms attached to this
|
||||
// file.
|
||||
//
|
||||
// This program is provided for scientific and educational only:
|
||||
// you can use and/or modify it for these purposes, but you are
|
||||
// not allowed to redistribute this work or derivative works in
|
||||
// source or executable form. A license must be obtained from the
|
||||
// patent right holders for any other use.
|
||||
//
|
||||
//
|
||||
//*------------------------ compute_asift_keypoints -------------------------*/
|
||||
// Compute the ASIFT keypoints on the input image.
|
||||
//
|
||||
// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
|
||||
//
|
||||
// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
|
||||
// Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
|
||||
// Reference: ASIFT online demo (You can try ASIFT with your own images online.)
|
||||
// http://www.ipol.im/pub/algo/my_affine_sift/
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <time.h>
|
||||
#include "compute_asift_keypoints.h"
|
||||
|
||||
#ifdef _OPENMP
|
||||
#include <omp.h>
|
||||
#endif
|
||||
|
||||
|
||||
#define ABS(x) (((x) > 0) ? (x) : (-(x)))
|
||||
|
||||
|
||||
/* InitSigma gives the amount of smoothing applied to the image at the
|
||||
first level of each octave. In effect, this determines the sampling
|
||||
needed in the image domain relative to amount of smoothing. Good
|
||||
values determined experimentally are in the range 1.2 to 1.8.
|
||||
*/
|
||||
/* float InitSigma_aa = 1.0;*/
|
||||
static float InitSigma_aa = 1.6;
|
||||
|
||||
#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
|
||||
|
||||
/* Gaussian convolution kernels are truncated at this many sigmas from
|
||||
the center. While it is more efficient to keep this value small,
|
||||
experiments show that for consistent scale-space analysis it needs
|
||||
a value of about 3.0, at which point the Gaussian has fallen to
|
||||
only 1% of its central value. A value of 2.0 greatly reduces
|
||||
keypoint consistency, and a value of 4.0 is better than 3.0.
|
||||
*/
|
||||
const float GaussTruncate1 = 4.0;
|
||||
|
||||
|
||||
/* --------------------------- Blur image --------------------------- */
|
||||
|
||||
|
||||
/* Same as ConvBuffer, but implemented with loop unrolling for increased
|
||||
speed. This is the most time intensive routine in keypoint detection,
|
||||
so deserves careful attention to efficiency. Loop unrolling simply
|
||||
sums 5 multiplications at a time to allow the compiler to schedule
|
||||
operations better and avoid loop overhead. This almost triples
|
||||
speed of previous version on a Pentium with gcc.
|
||||
*/
|
||||
void ConvBufferFast(float *buffer, float *kernel, int rsize, int ksize)
|
||||
{
|
||||
int i;
|
||||
float *bp, *kp, *endkp;
|
||||
float sum;
|
||||
|
||||
for (i = 0; i < rsize; i++) {
|
||||
sum = 0.0;
|
||||
bp = &buffer[i];
|
||||
kp = &kernel[0];
|
||||
endkp = &kernel[ksize];
|
||||
|
||||
/* Loop unrolling: do 5 multiplications at a time. */
|
||||
// while (kp + 4 < endkp) {
|
||||
// sum += (double) bp[0] * (double) kp[0] + (double) bp[1] * (double) kp[1] + (double) bp[2] * (double) kp[2] +
|
||||
// (double) bp[3] * (double) kp[3] + (double) bp[4] * (double) kp[4];
|
||||
// bp += 5;
|
||||
// kp += 5;
|
||||
// }
|
||||
// /* Do 2 multiplications at a time on remaining items. */
|
||||
// while (kp + 1 < endkp) {
|
||||
// sum += (double) bp[0] * (double) kp[0] + (double) bp[1] * (double) kp[1];
|
||||
// bp += 2;
|
||||
// kp += 2;
|
||||
// }
|
||||
// /* Finish last one if needed. */
|
||||
// if (kp < endkp) {
|
||||
// sum += (double) *bp * (double) *kp;
|
||||
// }
|
||||
|
||||
while (kp < endkp) {
|
||||
sum += *bp++ * *kp++;
|
||||
}
|
||||
|
||||
buffer[i] = sum;
|
||||
}
|
||||
}
|
||||
|
||||
/* Convolve image with the 1-D kernel vector along image rows. This
|
||||
is designed to be as efficient as possible. Pixels outside the
|
||||
image are set to the value of the closest image pixel.
|
||||
*/
|
||||
void ConvHorizontal(vector<float>& image, int width, int height, float *kernel, int ksize)
|
||||
{
|
||||
int rows, cols, r, c, i, halfsize;
|
||||
float buffer[4000];
|
||||
vector<float> pixels(width*height);
|
||||
|
||||
|
||||
rows = height;
|
||||
cols = width;
|
||||
|
||||
halfsize = ksize / 2;
|
||||
pixels = image;
|
||||
assert(cols + ksize < 4000);
|
||||
|
||||
for (r = 0; r < rows; r++) {
|
||||
/* Copy the row into buffer with pixels at ends replicated for
|
||||
half the mask size. This avoids need to check for ends
|
||||
within inner loop. */
|
||||
for (i = 0; i < halfsize; i++)
|
||||
buffer[i] = pixels[r*cols];
|
||||
for (i = 0; i < cols; i++)
|
||||
buffer[halfsize + i] = pixels[r*cols+i];
|
||||
for (i = 0; i < halfsize; i++)
|
||||
buffer[halfsize + cols + i] = pixels[r*cols+cols-1];
|
||||
|
||||
ConvBufferFast(buffer, kernel, cols, ksize);
|
||||
for (c = 0; c < cols; c++)
|
||||
pixels[r*cols+c] = buffer[c];
|
||||
}
|
||||
image = pixels;
|
||||
}
|
||||
|
||||
|
||||
/* Same as ConvHorizontal, but apply to vertical columns of image.
|
||||
*/
|
||||
void ConvVertical(vector<float>& image, int width, int height, float *kernel, int ksize)
|
||||
{
|
||||
int rows, cols, r, c, i, halfsize;
|
||||
float buffer[4000];
|
||||
vector<float> pixels(width*height);
|
||||
|
||||
rows = height;
|
||||
cols = width;
|
||||
|
||||
halfsize = ksize / 2;
|
||||
pixels = image;
|
||||
assert(rows + ksize < 4000);
|
||||
|
||||
for (c = 0; c < cols; c++) {
|
||||
for (i = 0; i < halfsize; i++)
|
||||
buffer[i] = pixels[c];
|
||||
for (i = 0; i < rows; i++)
|
||||
buffer[halfsize + i] = pixels[i*cols+c];
|
||||
for (i = 0; i < halfsize; i++)
|
||||
buffer[halfsize + rows + i] = pixels[(rows - 1)*cols+c];
|
||||
|
||||
ConvBufferFast(buffer, kernel, rows, ksize);
|
||||
for (r = 0; r < rows; r++)
|
||||
pixels[r*cols+c] = buffer[r];
|
||||
}
|
||||
|
||||
image = pixels;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* 1D Convolve image with a Gaussian of width sigma and store result back
|
||||
in image. This routine creates the Gaussian kernel, and then applies
|
||||
it in horizontal (flag_dir=0) OR vertical directions (flag_dir!=0).
|
||||
*/
|
||||
void GaussianBlur1D(vector<float>& image, int width, int height, float sigma, int flag_dir)
|
||||
{
|
||||
float x, kernel[100], sum = 0.0;
|
||||
int ksize, i;
|
||||
|
||||
/* The Gaussian kernel is truncated at GaussTruncate sigmas from
|
||||
center. The kernel size should be odd.
|
||||
*/
|
||||
ksize = (int)(2.0 * GaussTruncate1 * sigma + 1.0);
|
||||
ksize = MAX(3, ksize); /* Kernel must be at least 3. */
|
||||
if (ksize % 2 == 0) /* Make kernel size odd. */
|
||||
ksize++;
|
||||
assert(ksize < 100);
|
||||
|
||||
/* Fill in kernel values. */
|
||||
for (i = 0; i <= ksize; i++) {
|
||||
x = i - ksize / 2;
|
||||
kernel[i] = exp(- x * x / (2.0 * sigma * sigma));
|
||||
sum += kernel[i];
|
||||
}
|
||||
/* Normalize kernel values to sum to 1.0. */
|
||||
for (i = 0; i < ksize; i++)
|
||||
kernel[i] /= sum;
|
||||
|
||||
if (flag_dir == 0)
|
||||
{
|
||||
ConvHorizontal(image, width, height, kernel, ksize);
|
||||
}
|
||||
else
|
||||
{
|
||||
ConvVertical(image, width, height, kernel, ksize);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void compensate_affine_coor1(float *x0, float *y0, int w1, int h1, float t1, float t2, float Rtheta)
|
||||
{
|
||||
float x_ori, y_ori;
|
||||
float x_tmp, y_tmp;
|
||||
|
||||
float x1 = *x0;
|
||||
float y1 = *y0;
|
||||
|
||||
|
||||
Rtheta = Rtheta*PI/180;
|
||||
|
||||
if ( Rtheta <= PI/2 )
|
||||
{
|
||||
x_ori = 0;
|
||||
y_ori = w1 * sin(Rtheta) / t1;
|
||||
}
|
||||
else
|
||||
{
|
||||
x_ori = -w1 * cos(Rtheta) / t2;
|
||||
y_ori = ( w1 * sin(Rtheta) + h1 * sin(Rtheta-PI/2) ) / t1;
|
||||
}
|
||||
|
||||
float sin_Rtheta = sin(Rtheta);
|
||||
float cos_Rtheta = cos(Rtheta);
|
||||
|
||||
|
||||
/* project the coordinates of im1 to original image before tilt-rotation transform */
|
||||
/* Get the coordinates with respect to the 'origin' of the original image before transform */
|
||||
x1 = x1 - x_ori;
|
||||
y1 = y1 - y_ori;
|
||||
/* Invert tilt */
|
||||
x1 = x1 * t2;
|
||||
y1 = y1 * t1;
|
||||
/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
|
||||
x_tmp = cos_Rtheta*x1 - sin_Rtheta*y1;
|
||||
y_tmp = sin_Rtheta*x1 + cos_Rtheta*y1;
|
||||
x1 = x_tmp;
|
||||
y1 = y_tmp;
|
||||
|
||||
*x0 = x1;
|
||||
*y0 = y1;
|
||||
}
|
||||
|
||||
|
||||
/* -------------- MAIN FUNCTION ---------------------- */
|
||||
|
||||
int compute_asift_keypoints(vector<float>& image, int width, int height, int num_of_tilts, int verb, vector< vector< keypointslist > >& keys_all, siftPar &siftparameters)
|
||||
// Compute ASIFT keypoints in the input image.
|
||||
// Input:
|
||||
// image: input image
|
||||
// width, height: width and height of the input image.
|
||||
// num_of_tilts: number of tilts to simulate.
|
||||
// verb: 1/0 --> show/don not show verbose messages. (1 for debugging)
|
||||
// keys_all (output): ASIFT keypoints. It is a 2D matrix with varying rows and columns. Each entry keys_all[tt][rr]
|
||||
// stores the SIFT keypoints calculated on the image with the simulated tilt index tt and simulated rotation index rr (see the code below). In the coordinates of the keypoints,
|
||||
// the affine distortions have been compensated.
|
||||
// siftparameters: SIFT parameters.
|
||||
//
|
||||
// Output: the number of keypoints
|
||||
{
|
||||
vector<float> image_t, image_tmp1, image_tmp;
|
||||
|
||||
float t_min, t_k;
|
||||
int num_tilt, tt, num_rot_t2, rr;
|
||||
int fproj_o;
|
||||
float fproj_p, fproj_bg;
|
||||
char fproj_i;
|
||||
float *fproj_x4, *fproj_y4;
|
||||
// float frot_b=0;
|
||||
float frot_b=128;
|
||||
char *frot_k;
|
||||
int counter_sim=0, num_sim;
|
||||
int flag_dir = 1;
|
||||
float BorderFact=6*sqrt(2.);
|
||||
|
||||
int num_keys_total=0;
|
||||
|
||||
|
||||
fproj_o = 3;
|
||||
fproj_p = 0;
|
||||
fproj_i = 0;
|
||||
fproj_bg = 0;
|
||||
fproj_x4 = 0;
|
||||
fproj_y4 = 0;
|
||||
|
||||
frot_k = 0;
|
||||
|
||||
num_rot_t2 = 10;
|
||||
|
||||
t_min = 1;
|
||||
t_k = sqrt(2.);
|
||||
|
||||
|
||||
num_tilt = num_of_tilts;
|
||||
|
||||
|
||||
if ( num_tilt < 1)
|
||||
{
|
||||
printf("Number of tilts num_tilt should be equal or larger than 1. \n");
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
image_tmp1 = image;
|
||||
|
||||
|
||||
/* Calculate the number of simulations, and initialize keys_all */
|
||||
keys_all = std::vector< vector< keypointslist > >(num_tilt);
|
||||
for (tt = 1; tt <= num_tilt; tt++)
|
||||
{
|
||||
float t = t_min * pow(t_k, tt-1);
|
||||
|
||||
if ( t == 1 )
|
||||
{
|
||||
counter_sim ++;
|
||||
|
||||
keys_all[tt-1] = std::vector< keypointslist >(1);
|
||||
}
|
||||
else
|
||||
{
|
||||
int num_rot1 = round(num_rot_t2*t/2);
|
||||
if ( num_rot1%2 == 1 )
|
||||
{
|
||||
num_rot1 = num_rot1 + 1;
|
||||
}
|
||||
num_rot1 = num_rot1 / 2;
|
||||
counter_sim += num_rot1;
|
||||
|
||||
keys_all[tt-1] = std::vector< keypointslist >(num_rot1);
|
||||
}
|
||||
}
|
||||
|
||||
num_sim = counter_sim;
|
||||
|
||||
if ( verb )
|
||||
{
|
||||
printf("%d affine simulations will be performed. \n", num_sim);
|
||||
}
|
||||
|
||||
counter_sim = 0;
|
||||
|
||||
|
||||
|
||||
/* Affine simulation (rotation+tilt simulation) */
|
||||
// Loop on tilts.
|
||||
#ifdef _OPENMP
|
||||
omp_set_nested(1);
|
||||
#endif
|
||||
#pragma omp parallel for private(tt)
|
||||
for (tt = 1; tt <= num_tilt; tt++)
|
||||
{
|
||||
float t = t_min * pow(t_k, tt-1);
|
||||
|
||||
float t1 = 1;
|
||||
float t2 = 1/t;
|
||||
|
||||
// If tilt t = 1, do not simulate rotation.
|
||||
if ( t == 1 )
|
||||
{
|
||||
// copy the image from vector to array as compute_sift_keypoints uses only array.
|
||||
float *image_tmp1_float = new float[width*height];
|
||||
for (int cc = 0; cc < width*height; cc++)
|
||||
image_tmp1_float[cc] = image_tmp1[cc];
|
||||
|
||||
compute_sift_keypoints(image_tmp1_float,keys_all[tt-1][0],width,height,siftparameters);
|
||||
|
||||
delete[] image_tmp1_float;
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
// The number of rotations to simulate under the current tilt.
|
||||
int num_rot1 = round(num_rot_t2*t/2);
|
||||
|
||||
if ( num_rot1%2 == 1 )
|
||||
{
|
||||
num_rot1 = num_rot1 + 1;
|
||||
}
|
||||
num_rot1 = num_rot1 / 2;
|
||||
float delta_theta = PI/num_rot1;
|
||||
|
||||
// Loop on rotations.
|
||||
#pragma omp parallel for private(rr)
|
||||
for ( int rr = 1; rr <= num_rot1; rr++ )
|
||||
{
|
||||
float theta = delta_theta * (rr-1);
|
||||
theta = theta * 180 / PI;
|
||||
|
||||
vector<float> image_t;
|
||||
int width_r, height_r;
|
||||
|
||||
// simulate a rotation: rotate the image with an angle theta. (the outside of the rotated image are padded with the value frot_b)
|
||||
frot(image, image_t, width, height, &width_r, &height_r, &theta, &frot_b , frot_k);
|
||||
|
||||
/* Tilt */
|
||||
int width_t = (int) (width_r * t1);
|
||||
int height_t = (int) (height_r * t2);
|
||||
|
||||
int fproj_sx = width_t;
|
||||
int fproj_sy = height_t;
|
||||
|
||||
float fproj_x1 = 0;
|
||||
float fproj_y1 = 0;
|
||||
float fproj_x2 = width_t;
|
||||
float fproj_y2 = 0;
|
||||
float fproj_x3 = 0;
|
||||
float fproj_y3 = height_t;
|
||||
|
||||
/* Anti-aliasing filtering along vertical direction */
|
||||
/* sigma_aa = InitSigma_aa * log2(t);*/
|
||||
float sigma_aa = InitSigma_aa * t / 2;
|
||||
GaussianBlur1D(image_t,width_r,height_r,sigma_aa,flag_dir);
|
||||
|
||||
|
||||
// simulate a tilt: subsample the image along the vertical axis by a factor of t.
|
||||
vector<float> image_tmp(width_t*height_t);
|
||||
fproj (image_t, image_tmp, width_r, height_r, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p, &fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4);
|
||||
|
||||
vector<float> image_tmp1 = image_tmp;
|
||||
|
||||
if ( verb )
|
||||
{
|
||||
printf("Rotation theta = %.2f, Tilt t = %.2f. w=%d, h=%d, sigma_aa=%.2f, \n", theta, t, width_t, height_t, sigma_aa);
|
||||
}
|
||||
|
||||
|
||||
float *image_tmp1_float = new float[width_t*height_t];
|
||||
for (int cc = 0; cc < width_t*height_t; cc++)
|
||||
image_tmp1_float[cc] = image_tmp1[cc];
|
||||
|
||||
// compute SIFT keypoints on simulated image.
|
||||
keypointslist keypoints;
|
||||
keypointslist keypoints_filtered;
|
||||
compute_sift_keypoints(image_tmp1_float,keypoints,width_t,height_t,siftparameters);
|
||||
|
||||
delete[] image_tmp1_float;
|
||||
|
||||
/* check if the keypoint is located on the boundary of the parallelogram (i.e., the boundary of the distorted input image). If so, remove it to avoid boundary artifacts. */
|
||||
if ( keypoints.size() != 0 )
|
||||
{
|
||||
for ( int cc = 0; cc < (int) keypoints.size(); cc++ )
|
||||
{
|
||||
|
||||
float x0, y0, x1, y1, x2, y2, x3, y3 ,x4, y4, d1, d2, d3, d4, scale1, theta1, sin_theta1, cos_theta1, BorderTh;
|
||||
|
||||
x0 = keypoints[cc].x;
|
||||
y0 = keypoints[cc].y;
|
||||
scale1= keypoints[cc].scale;
|
||||
|
||||
theta1 = theta * PI / 180;
|
||||
sin_theta1 = sin(theta1);
|
||||
cos_theta1 = cos(theta1);
|
||||
|
||||
/* the coordinates of the 4 submits of the parallelogram */
|
||||
if ( theta <= 90 )
|
||||
{
|
||||
x1 = height * sin_theta1;
|
||||
y1 = 0;
|
||||
y2 = width * sin_theta1;
|
||||
x3 = width * cos_theta1;
|
||||
x4 = 0;
|
||||
y4 = height * cos_theta1;
|
||||
x2 = x1 + x3;
|
||||
y3 = y2 + y4;
|
||||
|
||||
/* note that the vertical direction goes from top to bottom!!!
|
||||
The calculation above assumes that the vertical direction goes from the bottom to top. Thus the vertical coordinates need to be reversed!!! */
|
||||
y1 = y3 - y1;
|
||||
y2 = y3 - y2;
|
||||
y4 = y3 - y4;
|
||||
y3 = 0;
|
||||
|
||||
y1 = y1 * t2;
|
||||
y2 = y2 * t2;
|
||||
y3 = y3 * t2;
|
||||
y4 = y4 * t2;
|
||||
}
|
||||
else
|
||||
{
|
||||
y1 = -height * cos_theta1;
|
||||
x2 = height * sin_theta1;
|
||||
x3 = 0;
|
||||
y3 = width * sin_theta1;
|
||||
x4 = -width * cos_theta1;
|
||||
y4 = 0;
|
||||
x1 = x2 + x4;
|
||||
y2 = y1 + y3;
|
||||
|
||||
/* note that the vertical direction goes from top to bottom!!!
|
||||
The calculation above assumes that the vertical direction goes from the bottom to top. Thus the vertical coordinates need to be reversed!!! */
|
||||
y1 = y2 - y1;
|
||||
y3 = y2 - y3;
|
||||
y4 = y2 - y4;
|
||||
y2 = 0;
|
||||
|
||||
y1 = y1 * t2;
|
||||
y2 = y2 * t2;
|
||||
y3 = y3 * t2;
|
||||
y4 = y4 * t2;
|
||||
}
|
||||
|
||||
/* the distances from the keypoint to the 4 sides of the parallelogram */
|
||||
d1 = ABS((x2-x1)*(y1-y0)-(x1-x0)*(y2-y1)) / sqrt((x2-x1)*(x2-x1)+(y2-y1)*(y2-y1));
|
||||
d2 = ABS((x3-x2)*(y2-y0)-(x2-x0)*(y3-y2)) / sqrt((x3-x2)*(x3-x2)+(y3-y2)*(y3-y2));
|
||||
d3 = ABS((x4-x3)*(y3-y0)-(x3-x0)*(y4-y3)) / sqrt((x4-x3)*(x4-x3)+(y4-y3)*(y4-y3));
|
||||
d4 = ABS((x1-x4)*(y4-y0)-(x4-x0)*(y1-y4)) / sqrt((x1-x4)*(x1-x4)+(y1-y4)*(y1-y4));
|
||||
|
||||
BorderTh = BorderFact*scale1;
|
||||
|
||||
if (!((d1<BorderTh) || (d2<BorderTh) || (d3<BorderTh) || (d4<BorderTh) ))
|
||||
{
|
||||
// Normalize the coordinates of the matched points by compensate the simulate affine transformations
|
||||
compensate_affine_coor1(&x0, &y0, width, height, 1/t2, t1, theta);
|
||||
keypoints[cc].x = x0;
|
||||
keypoints[cc].y = y0;
|
||||
|
||||
keypoints_filtered.push_back(keypoints[cc]);
|
||||
}
|
||||
}
|
||||
}
|
||||
keys_all[tt-1][rr-1] = keypoints_filtered;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
for (tt = 0; tt < (int) keys_all.size(); tt++)
|
||||
for (rr = 0; rr < (int) keys_all[tt].size(); rr++)
|
||||
{
|
||||
num_keys_total += (int) keys_all[tt][rr].size();
|
||||
}
|
||||
printf("%d ASIFT keypoints are detected. \n", num_keys_total);
|
||||
}
|
||||
|
||||
return num_keys_total;
|
||||
}
|
||||
53
asift_match/src/compute_asift_keypoints.h
Executable file
53
asift_match/src/compute_asift_keypoints.h
Executable file
|
|
@ -0,0 +1,53 @@
|
|||
// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
|
||||
// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
|
||||
//
|
||||
// WARNING:
|
||||
// This file implements an algorithm possibly linked to the patent
|
||||
//
|
||||
// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant
|
||||
// affine recognition recognition of shapes (WO/2009/150361), patent pending.
|
||||
//
|
||||
// This file is made available for the exclusive aim of serving as
|
||||
// scientific tool to verify of the soundness and
|
||||
// completeness of the algorithm description. Compilation,
|
||||
// execution and redistribution of this file may violate exclusive
|
||||
// patents rights in certain countries.
|
||||
// The situation being different for every country and changing
|
||||
// over time, it is your responsibility to determine which patent
|
||||
// rights restrictions apply to you before you compile, use,
|
||||
// modify, or redistribute this file. A patent lawyer is qualified
|
||||
// to make this determination.
|
||||
// If and only if they don't conflict with any patent terms, you
|
||||
// can benefit from the following license terms attached to this
|
||||
// file.
|
||||
//
|
||||
// This program is provided for scientific and educational only:
|
||||
// you can use and/or modify it for these purposes, but you are
|
||||
// not allowed to redistribute this work or derivative works in
|
||||
// source or executable form. A license must be obtained from the
|
||||
// patent right holders for any other use.
|
||||
//
|
||||
//
|
||||
//*------------------------ compute_asift_keypoints -------------------------*/
|
||||
// Compute the ASIFT keypoints on the input image.
|
||||
//
|
||||
// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
|
||||
//
|
||||
// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
|
||||
// Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
|
||||
// Reference: ASIFT online demo (You can try ASIFT with your own images online.)
|
||||
// http://www.ipol.im/pub/algo/my_affine_sift/
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
#include "library.h"
|
||||
#include "demo_lib_sift.h"
|
||||
#include "frot.h"
|
||||
#include "fproj.h"
|
||||
#include <vector>
|
||||
using namespace std;
|
||||
|
||||
|
||||
int compute_asift_keypoints(vector<float>& image, int width, int height, int num_of_tilts, int verb, vector< vector< keypointslist > >& keys_all, siftPar &siftparameters);
|
||||
|
||||
void GaussianBlur1D(vector<float>& image, int width, int height, float sigma, int flag_dir);
|
||||
791
asift_match/src/compute_asift_matches.cpp
Executable file
791
asift_match/src/compute_asift_matches.cpp
Executable file
|
|
@ -0,0 +1,791 @@
|
|||
// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
|
||||
// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
|
||||
//
|
||||
// WARNING:
|
||||
// This file implements an algorithm possibly linked to the patent
|
||||
//
|
||||
// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant
|
||||
// affine recognition recognition of shapes (WO/2009/150361), patent pending.
|
||||
//
|
||||
// This file is made available for the exclusive aim of serving as
|
||||
// scientific tool to verify of the soundness and
|
||||
// completeness of the algorithm description. Compilation,
|
||||
// execution and redistribution of this file may violate exclusive
|
||||
// patents rights in certain countries.
|
||||
// The situation being different for every country and changing
|
||||
// over time, it is your responsibility to determine which patent
|
||||
// rights restrictions apply to you before you compile, use,
|
||||
// modify, or redistribute this file. A patent lawyer is qualified
|
||||
// to make this determination.
|
||||
// If and only if they don't conflict with any patent terms, you
|
||||
// can benefit from the following license terms attached to this
|
||||
// file.
|
||||
//
|
||||
// This program is provided for scientific and educational only:
|
||||
// you can use and/or modify it for these purposes, but you are
|
||||
// not allowed to redistribute this work or derivative works in
|
||||
// source or executable form. A license must be obtained from the
|
||||
// patent right holders for any other use.
|
||||
//
|
||||
//
|
||||
//*------------------------ compute_asift_matches-- -------------------------*/
|
||||
// Match the ASIFT keypoints.
|
||||
//
|
||||
// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
|
||||
//
|
||||
// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
|
||||
// Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
|
||||
// Reference: ASIFT online demo (You can try ASIFT with your own images online.)
|
||||
// http://www.ipol.im/pub/algo/my_affine_sift/
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
#include <assert.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
#include <time.h>
|
||||
|
||||
#ifdef _OPENMP
|
||||
#include <omp.h>
|
||||
#endif
|
||||
|
||||
#include "compute_asift_matches.h"
|
||||
#include "libMatch/match.h"
|
||||
#include "orsa.h"
|
||||
|
||||
|
||||
#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
|
||||
|
||||
/* Remove the repetitive matches that appear in different simulations and retain only one */
|
||||
void unique_match1(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
|
||||
{
|
||||
int i_in, i_out;
|
||||
float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
|
||||
int flag_unique;
|
||||
float d1, d2;
|
||||
int Th2 = 2;
|
||||
|
||||
seg_out.push_back(seg_in[0]);
|
||||
Minfoall_out.push_back(Minfoall_in[0]);
|
||||
|
||||
/* For other matches */
|
||||
if ( seg_in.size() > 1 )
|
||||
{
|
||||
/* check if a match is unique. if yes, copy */
|
||||
/* Bug fix by Xiaoyu Sun (Sichuan university) (Dec 13, 2015) */
|
||||
/* Original version
|
||||
matchingslist::iterator ptr_in = seg_in.begin();
|
||||
for ( i_in = 1; i_in < (int) seg_in.size(); i_in++, ptr_in++ )
|
||||
*/
|
||||
/* Bug fixed */
|
||||
matchingslist::iterator ptr_in = seg_in.begin();
|
||||
ptr_in++;
|
||||
for ( i_in = 1; i_in < (int) seg_in.size(); i_in++, ptr_in++ )
|
||||
{
|
||||
x1_in = ptr_in->first.x;
|
||||
y1_in = ptr_in->first.y;
|
||||
x2_in = ptr_in->second.x;
|
||||
y2_in = ptr_in->second.y;
|
||||
|
||||
flag_unique = 1;
|
||||
|
||||
matchingslist::iterator ptr_out = seg_out.begin();
|
||||
for ( i_out = 0; i_out < (int) seg_out.size(); i_out++, ptr_out++ )
|
||||
{
|
||||
x1_out = ptr_out->first.x;
|
||||
y1_out = ptr_out->first.y;
|
||||
x2_out = ptr_out->second.x;
|
||||
y2_out = ptr_out->second.y;
|
||||
|
||||
d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
|
||||
d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
|
||||
|
||||
|
||||
if ( ( d1 <= Th2) && ( d2 <= Th2) )
|
||||
{
|
||||
flag_unique = 0;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
if ( flag_unique == 1 )
|
||||
{
|
||||
seg_out.push_back(seg_in[i_in]);
|
||||
Minfoall_out.push_back(Minfoall_in[i_in]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Remove the ALL one-to-multiple matches. */
|
||||
void clean_match1(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
|
||||
{
|
||||
int i1, i2;
|
||||
float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
|
||||
|
||||
// Guoshen Yu, 2010.09.22, Windows version
|
||||
// int flag_unique[seg_in.size()];
|
||||
int tmp_size = seg_in.size();
|
||||
int *flag_unique = new int[tmp_size];
|
||||
|
||||
int sum_flag=0;
|
||||
float d1, d2;
|
||||
int Th1 = 1;
|
||||
int Th2 = 4;
|
||||
|
||||
for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
|
||||
{
|
||||
flag_unique[i1] = 1;
|
||||
}
|
||||
|
||||
/* Set the flag of redundant matches to 0. */
|
||||
matchingslist::iterator ptr_in = seg_in.begin();
|
||||
for ( i1 = 0; i1 < (int) seg_in.size() - 1; i1++, ptr_in++ )
|
||||
{
|
||||
x1_in = ptr_in->first.x;
|
||||
y1_in = ptr_in->first.y;
|
||||
x2_in = ptr_in->second.x;
|
||||
y2_in = ptr_in->second.y;
|
||||
|
||||
matchingslist::iterator ptr_out = ptr_in+1;
|
||||
for ( i2 = i1 + 1; i2 < (int) seg_in.size(); i2++, ptr_out++ )
|
||||
{
|
||||
x1_out = ptr_out->first.x;
|
||||
y1_out = ptr_out->first.y;
|
||||
x2_out = ptr_out->second.x;
|
||||
y2_out = ptr_out->second.y;
|
||||
|
||||
d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
|
||||
d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
|
||||
|
||||
/* If redundant, set flags of both elements to 0.*/
|
||||
if ( ( ( d1 <= Th1) && ( d2 > Th2) ) || ( ( d1 > Th2) && ( d2 <= Th1) ) )
|
||||
{
|
||||
flag_unique[i1] = 0;
|
||||
flag_unique[i2] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
|
||||
{
|
||||
sum_flag += flag_unique[i1];
|
||||
}
|
||||
|
||||
/* Copy the matches that are not redundant */
|
||||
if ( sum_flag > 0 )
|
||||
{
|
||||
for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
|
||||
{
|
||||
if ( flag_unique[i1] == 1 )
|
||||
{
|
||||
seg_out.push_back(seg_in[i1]);
|
||||
Minfoall_out.push_back(Minfoall_in[i1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Warning: all matches are redundant and are thus removed! This step of match cleaning is short circuited. (Normally this should not happen...)\n");
|
||||
}
|
||||
|
||||
// Guoshen Yu, 2010.09.22, Windows version
|
||||
delete [] flag_unique;
|
||||
}
|
||||
|
||||
|
||||
/* Remove the ALL multiple-to-one matches */
|
||||
void clean_match2(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
|
||||
{
|
||||
int i1, i2;
|
||||
float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
|
||||
|
||||
// Guoshen Yu, 2010.09.22, Windows version
|
||||
// int flag_unique[seg_in.size()];
|
||||
int tmp_size = seg_in.size();
|
||||
int *flag_unique = new int[tmp_size];
|
||||
|
||||
int sum_flag=0;
|
||||
float d1, d2;
|
||||
int Th1 = 1;
|
||||
int Th2 = 4;
|
||||
|
||||
for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
|
||||
{
|
||||
flag_unique[i1] = 1;
|
||||
}
|
||||
|
||||
/* Set the flag of redundant matches to 0. */
|
||||
matchingslist::iterator ptr_in = seg_in.begin();
|
||||
for ( i1 = 0; i1 < (int) seg_in.size() - 1; i1++, ptr_in++ )
|
||||
{
|
||||
x1_in = ptr_in->first.x;
|
||||
y1_in = ptr_in->first.y;
|
||||
x2_in = ptr_in->second.x;
|
||||
y2_in = ptr_in->second.y;
|
||||
|
||||
matchingslist::iterator ptr_out = ptr_in+1;
|
||||
for ( i2 = i1 + 1; i2 < (int) seg_in.size(); i2++, ptr_out++ )
|
||||
{
|
||||
|
||||
x1_out = ptr_out->first.x;
|
||||
y1_out = ptr_out->first.y;
|
||||
x2_out = ptr_out->second.x;
|
||||
y2_out = ptr_out->second.y;
|
||||
|
||||
d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
|
||||
d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
|
||||
|
||||
|
||||
/* If redundant, set flags of both elements to 0.*/
|
||||
if ( ( d1 > Th2) && ( d2 <= Th1) )
|
||||
{
|
||||
flag_unique[i1] = 0;
|
||||
flag_unique[i2] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
|
||||
{
|
||||
sum_flag += flag_unique[i1];
|
||||
}
|
||||
|
||||
/* Copy the matches that are not redundant */
|
||||
if ( sum_flag > 0 )
|
||||
{
|
||||
for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
|
||||
{
|
||||
if ( flag_unique[i1] == 1 )
|
||||
{
|
||||
seg_out.push_back(seg_in[i1]);
|
||||
Minfoall_out.push_back(Minfoall_in[i1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Warning: all matches are redundant and are thus removed! This step of match cleaning is short circuited. (Normally this should not happen...)\n");
|
||||
}
|
||||
|
||||
// Guoshen Yu, 2010.09.22, Windows version
|
||||
delete [] flag_unique;
|
||||
}
|
||||
|
||||
|
||||
// Normalize the coordinates of the matched points by compensating the simulate affine transformations
|
||||
void compensate_affine_coor(matching &matching1, int w1, int h1, int w2, int h2, float t1, float t2, float Rtheta, float t_im2_1, float t_im2_2, float Rtheta2)
|
||||
{
|
||||
float x_ori, y_ori;
|
||||
float x_ori2, y_ori2, x_tmp, y_tmp;
|
||||
float x1, y1, x2, y2;
|
||||
|
||||
Rtheta = Rtheta*PI/180;
|
||||
|
||||
if ( Rtheta <= PI/2 )
|
||||
{
|
||||
x_ori = 0;
|
||||
y_ori = w1 * sin(Rtheta) / t1;
|
||||
}
|
||||
else
|
||||
{
|
||||
x_ori = -w1 * cos(Rtheta) / t2;
|
||||
y_ori = ( w1 * sin(Rtheta) + h1 * sin(Rtheta-PI/2) ) / t1;
|
||||
}
|
||||
|
||||
Rtheta2 = Rtheta2*PI/180;
|
||||
|
||||
if ( Rtheta2 <= PI/2 )
|
||||
{
|
||||
x_ori2 = 0;
|
||||
y_ori2 = w2 * sin(Rtheta2) / t_im2_1;
|
||||
}
|
||||
else
|
||||
{
|
||||
x_ori2 = -w2 * cos(Rtheta2) / t_im2_2;
|
||||
y_ori2 = ( w2 * sin(Rtheta2) + h2 * sin(Rtheta2-PI/2) ) / t_im2_1;
|
||||
}
|
||||
|
||||
float sin_Rtheta = sin(Rtheta);
|
||||
float cos_Rtheta = cos(Rtheta);
|
||||
float sin_Rtheta2 = sin(Rtheta2);
|
||||
float cos_Rtheta2 = cos(Rtheta2);
|
||||
|
||||
x1 = matching1.first.x;
|
||||
y1 = matching1.first.y;
|
||||
x2 = matching1.second.x;
|
||||
y2 = matching1.second.y;
|
||||
|
||||
/* project the coordinates of im1 to original image before tilt-rotation transform */
|
||||
/* Get the coordinates with respect to the 'origin' of the original image before transform */
|
||||
x1 = x1 - x_ori;
|
||||
y1 = y1 - y_ori;
|
||||
/* Invert tilt */
|
||||
x1 = x1 * t2;
|
||||
y1 = y1 * t1;
|
||||
/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
|
||||
x_tmp = cos_Rtheta*x1 - sin_Rtheta*y1;
|
||||
y_tmp = sin_Rtheta*x1 + cos_Rtheta*y1;
|
||||
x1 = x_tmp;
|
||||
y1 = y_tmp;
|
||||
|
||||
/* Coordinate projection on image2 */
|
||||
|
||||
/* Get the coordinates with respect to the 'origin' of the original image before transform */
|
||||
x2 = x2 - x_ori2;
|
||||
y2 = y2 - y_ori2;
|
||||
/* Invert tilt */
|
||||
x2 = x2 * t_im2_2;
|
||||
y2 = y2 * t_im2_1;
|
||||
/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
|
||||
x_tmp = cos_Rtheta2*x2 - sin_Rtheta2*y2;
|
||||
y_tmp = sin_Rtheta2*x2 + cos_Rtheta2*y2;
|
||||
x2 = x_tmp;
|
||||
y2 = y_tmp;
|
||||
|
||||
matching1.first.x = x1;
|
||||
matching1.first.y = y1;
|
||||
matching1.second.x = x2;
|
||||
matching1.second.y = y2;
|
||||
}
|
||||
|
||||
int compute_asift_matches(int num_of_tilts1, int num_of_tilts2, int w1, int h1, int w2, int h2, int verb, vector< vector< keypointslist > >& keys1, vector< vector< keypointslist > >& keys2, matchingslist &matchings, siftPar &siftparameters)
|
||||
// Match the ASIFT keypoints.
|
||||
// Input:
|
||||
// num_of_tilts1, num_of_tilts2: number of tilts that have been simulated on the two images. (They can be different.)
|
||||
// w1, h1, w2, h2: widht/height of image1/image2.
|
||||
// verb: 1/0 --> show/don not show verbose messages. (1 for debugging)
|
||||
// keys1, keys2: ASIFT keypoints of image1/image2. (They should be calculated with compute_asift_keypoints.)
|
||||
// matchings (output): the coordinates (col1, row1, col2, row2) of all the matching points.
|
||||
//
|
||||
// Output: the number of matching points.
|
||||
{
|
||||
float t_min, t_k, t;
|
||||
int num_tilt1, num_tilt2, tt, num_rot_t2, num_rot1, rr;
|
||||
int cc;
|
||||
|
||||
int tt2, rr2, num_rot1_2;
|
||||
float t_im2;
|
||||
|
||||
/* It stores the coordinates of ALL matches points of ALL affine simulations */
|
||||
vector< vector <float> > Minfoall;
|
||||
|
||||
int Tmin = 8;
|
||||
float nfa_max = -2;
|
||||
|
||||
num_rot_t2 = 10;
|
||||
|
||||
t_min = 1;
|
||||
t_k = sqrt(2.);
|
||||
|
||||
num_tilt1 = num_of_tilts1;
|
||||
num_tilt2 = num_of_tilts2;
|
||||
|
||||
if ( ( num_tilt1 < 1 ) || ( num_tilt2 < 1 ) )
|
||||
{
|
||||
printf("Number of tilts num_tilt should be equal or larger than 1. \n");
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
|
||||
/* Initialize the vector structure for the matching points */
|
||||
std::vector< vector< vector < vector < matchingslist > > > > matchings_vec(num_tilt1);
|
||||
std::vector< vector< vector< vector< vector< vector <float> > > > > > Minfoall_vec(num_tilt1);
|
||||
for (tt = 1; tt <= num_tilt1; tt++)
|
||||
{
|
||||
t = t_min * pow(t_k, tt-1);
|
||||
if ( t == 1 )
|
||||
{
|
||||
num_rot1 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
num_rot1 = round(num_rot_t2*t/2);
|
||||
if ( num_rot1%2 == 1 )
|
||||
{
|
||||
num_rot1 = num_rot1 + 1;
|
||||
}
|
||||
num_rot1 = num_rot1 / 2;
|
||||
}
|
||||
|
||||
matchings_vec[tt-1].resize(num_rot1);
|
||||
Minfoall_vec[tt-1].resize(num_rot1);
|
||||
|
||||
for ( rr = 1; rr <= num_rot1; rr++ )
|
||||
{
|
||||
|
||||
matchings_vec[tt-1][rr-1].resize(num_tilt2);
|
||||
Minfoall_vec[tt-1][rr-1].resize(num_tilt2);
|
||||
|
||||
for (tt2 = 1; tt2 <= num_tilt2; tt2++)
|
||||
{
|
||||
t_im2 = t_min * pow(t_k, tt2-1);
|
||||
if ( t_im2 == 1 )
|
||||
{
|
||||
num_rot1_2 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
num_rot1_2 = round(num_rot_t2*t_im2/2);
|
||||
if ( num_rot1_2%2 == 1 )
|
||||
{
|
||||
num_rot1_2 = num_rot1_2 + 1;
|
||||
}
|
||||
num_rot1_2 = num_rot1_2 / 2;
|
||||
}
|
||||
|
||||
matchings_vec[tt-1][rr-1][tt2-1].resize(num_rot1_2);
|
||||
Minfoall_vec[tt-1][rr-1][tt2-1].resize(num_rot1_2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///*
|
||||
// * setup the tilt and rotation parameters
|
||||
// * for all the loops, this vector will hold
|
||||
// * the following parameters:
|
||||
// * tt, num_rot1, rr, tt2, num_rot1_2, rr2
|
||||
// */
|
||||
//vector<int> tilt_rot;
|
||||
///* loop on tilts for image 1 */
|
||||
//for (int tt = 1; tt <= num_tilt1; tt++)
|
||||
//{
|
||||
// float t = t_min * pow(t_k, tt-1);
|
||||
// int num_rot1;
|
||||
// /* if tilt t = 1, do not simulate rotation. */
|
||||
// if ( 1 == tt )
|
||||
// num_rot1 = 1;
|
||||
// else
|
||||
// {
|
||||
// /* number of rotations to simulate */
|
||||
// num_rot1 = round(num_rot_t2 * t / 2);
|
||||
// if ( num_rot1%2 == 1 )
|
||||
// num_rot1 = num_rot1 + 1;
|
||||
// num_rot1 = num_rot1 / 2;
|
||||
// }
|
||||
// /* loop on rotations for image 1 */
|
||||
// for (int rr = 1; rr <= num_rot1; rr++ )
|
||||
// {
|
||||
// /* loop on tilts for image 2 */
|
||||
// for (int tt2 = 1; tt2 <= num_tilt2; tt2++)
|
||||
// {
|
||||
// float t_im2 = t_min * pow(t_k, tt2-1);
|
||||
// int num_rot1_2;
|
||||
// if ( tt2 == 1 )
|
||||
// num_rot1_2 = 1;
|
||||
// else
|
||||
// {
|
||||
// num_rot1_2 = round(num_rot_t2 * t_im2 / 2);
|
||||
// if ( num_rot1_2%2 == 1 )
|
||||
// num_rot1_2 = num_rot1_2 + 1;
|
||||
// num_rot1_2 = num_rot1_2 / 2;
|
||||
// }
|
||||
// /* loop on rotations for image 2 */
|
||||
// for (int rr2 = 1; rr2 <= num_rot1_2; rr2++ )
|
||||
// {
|
||||
// tilt_rot.push_back(tt);
|
||||
// tilt_rot.push_back(num_rot1);
|
||||
// tilt_rot.push_back(rr);
|
||||
// tilt_rot.push_back(tt2);
|
||||
// tilt_rot.push_back(num_rot1_2);
|
||||
// tilt_rot.push_back(rr2);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
//}
|
||||
|
||||
/* Calculate the number of simulations */
|
||||
#ifdef _OPENMP
|
||||
omp_set_nested(1);
|
||||
#endif
|
||||
// loop on tilts for image 1.
|
||||
#pragma omp parallel for private(tt)
|
||||
for (int tt = 1; tt <= num_tilt1; tt++)
|
||||
{
|
||||
|
||||
float t = t_min * pow(t_k, tt-1);
|
||||
|
||||
/* Attention: the t1, t2 do not follow the same convention as in compute_asift_keypoints */
|
||||
float t1 = t;
|
||||
float t2 = 1;
|
||||
|
||||
int num_rot1;
|
||||
|
||||
// If tilt t = 1, do not simulate rotation.
|
||||
if ( tt == 1 )
|
||||
{
|
||||
num_rot1 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
// The number of rotations to simulate under the current tilt.
|
||||
num_rot1 = round(num_rot_t2*t/2);
|
||||
if ( num_rot1%2 == 1 )
|
||||
{
|
||||
num_rot1 = num_rot1 + 1;
|
||||
}
|
||||
num_rot1 = num_rot1 / 2;
|
||||
}
|
||||
|
||||
|
||||
float delta_theta = PI/num_rot1;
|
||||
|
||||
// Loop on rotations for image 1.
|
||||
#pragma omp parallel for private(rr)
|
||||
for ( int rr = 1; rr <= num_rot1; rr++ )
|
||||
{
|
||||
float theta = delta_theta * (rr-1);
|
||||
theta = theta * 180 / PI;
|
||||
|
||||
/* Read the keypoints of image 1 */
|
||||
keypointslist keypoints1 = keys1[tt-1][rr-1];
|
||||
|
||||
// loop on tilts for image 2.
|
||||
#pragma omp parallel for private(tt2)
|
||||
for (int tt2 = 1; tt2 <= num_tilt2; tt2++)
|
||||
{
|
||||
float t_im2 = t_min * pow(t_k, tt2-1);
|
||||
|
||||
/* Attention: the t1, t2 do not follow the same convention as in asift_v1.c */
|
||||
float t_im2_1 = t_im2;
|
||||
float t_im2_2 = 1;
|
||||
|
||||
int num_rot1_2;
|
||||
|
||||
if ( tt2 == 1 )
|
||||
{
|
||||
num_rot1_2 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
num_rot1_2 = round(num_rot_t2*t_im2/2);
|
||||
if ( num_rot1_2%2 == 1 )
|
||||
{
|
||||
num_rot1_2 = num_rot1_2 + 1;
|
||||
}
|
||||
num_rot1_2 = num_rot1_2 / 2;
|
||||
}
|
||||
|
||||
float delta_theta2 = PI/num_rot1_2;
|
||||
|
||||
#pragma omp parallel for private(rr2)
|
||||
// Loop on rotations for image 2.
|
||||
for ( int rr2 = 1; rr2 <= num_rot1_2; rr2++ )
|
||||
{
|
||||
float theta2 = delta_theta2 * (rr2-1);
|
||||
theta2 = theta2 * 180 / PI;
|
||||
|
||||
/* Read the keypoints of image2. */
|
||||
keypointslist keypoints2 = keys2[tt2-1][rr2-1];
|
||||
|
||||
|
||||
// Match the keypoints of image1 and image2.
|
||||
matchingslist matchings1;
|
||||
compute_sift_matches(keypoints1,keypoints2,matchings1,siftparameters);
|
||||
|
||||
if ( verb )
|
||||
{
|
||||
printf("t1=%.2f, theta1=%.2f, num keys1 = %d, t2=%.2f, theta2=%.2f, num keys2 = %d, num matches=%d\n", t, theta, (int) keypoints1.size(), t_im2, theta2, (int) keypoints2.size(), (int) matchings1.size());
|
||||
}
|
||||
|
||||
/* Store the matches */
|
||||
if ( matchings1.size() > 0 )
|
||||
{
|
||||
matchings_vec[tt-1][rr-1][tt2-1][rr2-1] = matchingslist(matchings1.size());
|
||||
Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1].resize(matchings1.size());
|
||||
|
||||
for ( int cc = 0; cc < (int) matchings1.size(); cc++ )
|
||||
{
|
||||
///// In the coordinates the affine transformations have been normalized already in compute_asift_keypoints. So no need to normalize here.
|
||||
// Normalize the coordinates of the matched points by compensating the simulate affine transformations
|
||||
// compensate_affine_coor(matchings1[cc], w1, h1, w2, h2, t1, t2, theta, t_im2_1, t_im2_2, theta2);
|
||||
|
||||
matchings_vec[tt-1][rr-1][tt2-1][rr2-1][cc] = matchings1[cc];
|
||||
|
||||
vector<float> Minfo_1match(6);
|
||||
Minfo_1match[0] = t1;
|
||||
Minfo_1match[1] = t2;
|
||||
Minfo_1match[2] = theta;
|
||||
Minfo_1match[3] = t_im2_1;
|
||||
Minfo_1match[4] = t_im2_2;
|
||||
Minfo_1match[5] = theta2;
|
||||
Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1][cc] = Minfo_1match;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Move the matches to a 1D vector
|
||||
for (tt = 1; tt <= num_tilt1; tt++)
|
||||
{
|
||||
t = t_min * pow(t_k, tt-1);
|
||||
|
||||
if ( t == 1 )
|
||||
{
|
||||
num_rot1 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
num_rot1 = round(num_rot_t2*t/2);
|
||||
if ( num_rot1%2 == 1 )
|
||||
{
|
||||
num_rot1 = num_rot1 + 1;
|
||||
}
|
||||
num_rot1 = num_rot1 / 2;
|
||||
}
|
||||
|
||||
for ( rr = 1; rr <= num_rot1; rr++ )
|
||||
{
|
||||
for (tt2 = 1; tt2 <= num_tilt2; tt2++)
|
||||
{
|
||||
t_im2 = t_min * pow(t_k, tt2-1);
|
||||
if ( t_im2 == 1 )
|
||||
{
|
||||
num_rot1_2 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
num_rot1_2 = round(num_rot_t2*t_im2/2);
|
||||
if ( num_rot1_2%2 == 1 )
|
||||
{
|
||||
num_rot1_2 = num_rot1_2 + 1;
|
||||
}
|
||||
num_rot1_2 = num_rot1_2 / 2;
|
||||
}
|
||||
|
||||
for ( rr2 = 1; rr2 <= num_rot1_2; rr2++ )
|
||||
{
|
||||
for ( cc=0; cc < (int) matchings_vec[tt-1][rr-1][tt2-1][rr2-1].size(); cc++ )
|
||||
{
|
||||
matchings.push_back(matchings_vec[tt-1][rr-1][tt2-1][rr2-1][cc]);
|
||||
Minfoall.push_back(Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1][cc]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ( verb )
|
||||
{
|
||||
printf("The number of matches is %d \n", (int) matchings.size());
|
||||
}
|
||||
|
||||
|
||||
if ( matchings.size() > 0 )
|
||||
{
|
||||
/* Remove the repetitive matches that appear in different simulations and retain only one. */
|
||||
// Since tilts are simuated on both image 1 and image 2, it is normal to have repetitive matches.
|
||||
matchingslist matchings_unique;
|
||||
vector< vector<float> > Minfoall_unique;
|
||||
unique_match1(matchings, matchings_unique, Minfoall, Minfoall_unique);
|
||||
matchings = matchings_unique;
|
||||
Minfoall = Minfoall_unique;
|
||||
|
||||
if ( verb )
|
||||
{
|
||||
printf("The number of unique matches is %d \n", (int) matchings.size());
|
||||
}
|
||||
|
||||
// There often appear to be some one-to-multiple/multiple-to-one matches (one point in image 1 matches with many points in image 2/vice versa).
|
||||
// This is an artifact of SIFT on interpolated images, as the interpolation tends to create some auto-similar structures (steps for example).
|
||||
// These matches need to be removed.
|
||||
/* Separating the removal of multiple-to-one and one-to-multiple in two steps:
|
||||
- first remove multiple-to-one
|
||||
- then remove one-to-multiple
|
||||
This allows to avoid removing some good matches: multiple-to-one matches is much more frequent than one-to-multiple. Sometimes some of the feature points in image 1 that take part in "multiple-to-one" bad matches have also correct matches in image 2. The modified scheme avoid removing these good matches. */
|
||||
|
||||
// Remove to multiple-to-one matches
|
||||
matchings_unique.clear();
|
||||
Minfoall_unique.clear();
|
||||
clean_match2(matchings, matchings_unique, Minfoall, Minfoall_unique);
|
||||
matchings = matchings_unique;
|
||||
Minfoall = Minfoall_unique;
|
||||
|
||||
// Remove to one-to-multiple matches
|
||||
matchings_unique.clear();
|
||||
Minfoall_unique.clear();
|
||||
clean_match1(matchings, matchings_unique, Minfoall, Minfoall_unique);
|
||||
matchings = matchings_unique;
|
||||
Minfoall = Minfoall_unique;
|
||||
|
||||
|
||||
if ( verb )
|
||||
{
|
||||
printf("The number of final matches is %d \n", (int) matchings.size());
|
||||
}
|
||||
|
||||
// If enough matches to do epipolar filtering
|
||||
if ( (int) matchings.size() >= Tmin )
|
||||
{
|
||||
//////// Use ORSA to filter out the incorrect matches.
|
||||
// store the coordinates of the matching points
|
||||
vector<Match> match_coor;
|
||||
for ( cc = 0; cc < (int) matchings.size(); cc++ )
|
||||
{
|
||||
Match match1_coor;
|
||||
match1_coor.x1 = matchings[cc].first.x;
|
||||
match1_coor.y1 = matchings[cc].first.y;
|
||||
match1_coor.x2 = matchings[cc].second.x;
|
||||
match1_coor.y2 = matchings[cc].second.y;
|
||||
|
||||
match_coor.push_back(match1_coor);
|
||||
}
|
||||
|
||||
std::vector<float> index;
|
||||
// Guoshen Yu, 2010.09.23
|
||||
// index.clear();
|
||||
|
||||
int t_value_orsa=10000;
|
||||
int verb_value_orsa=0;
|
||||
int n_flag_value_orsa=0;
|
||||
int mode_value_orsa=2;
|
||||
int stop_value_orsa=0;
|
||||
|
||||
// epipolar filtering with the Moisan-Stival ORSA algorithm.
|
||||
// float nfa = orsa(w1, h1, match_coor, index, t_value_orsa, verb_value_orsa, n_flag_value_orsa, mode_value_orsa, stop_value_orsa);
|
||||
float nfa = orsa((w1+w2)/2, (h1+h2)/2, match_coor, index, t_value_orsa, verb_value_orsa, n_flag_value_orsa, mode_value_orsa, stop_value_orsa);
|
||||
|
||||
|
||||
// if the matching is significant, register the good matches
|
||||
if ( nfa < nfa_max )
|
||||
{
|
||||
// extract meaningful matches
|
||||
matchings_unique.clear();
|
||||
Minfoall_unique.clear();
|
||||
for ( cc = 0; cc < (int) index.size(); cc++ )
|
||||
{
|
||||
matchings_unique.push_back(matchings[(int)index[cc]]);
|
||||
Minfoall_unique.push_back(Minfoall[(int)index[cc]]);
|
||||
}
|
||||
matchings = matchings_unique;
|
||||
Minfoall = Minfoall_unique;
|
||||
|
||||
cout << "The two images match! " << matchings.size() << " matchings are identified. log(nfa)=" << nfa << "." << endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
matchings.clear();
|
||||
Minfoall.clear();
|
||||
cout << "The two images do not match. The matching is not significant: log(nfa)=" << nfa << "." << endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
matchings.clear();
|
||||
Minfoall.clear();
|
||||
cout << "The two images do not match. Not enough matches to do epipolar filtering." << endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
cout << "The two images do not match.\n" << endl;
|
||||
}
|
||||
|
||||
return matchings.size();
|
||||
|
||||
}
|
||||
|
||||
51
asift_match/src/compute_asift_matches.h
Executable file
51
asift_match/src/compute_asift_matches.h
Executable file
|
|
@ -0,0 +1,51 @@
|
|||
// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
|
||||
// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
|
||||
//
|
||||
// WARNING:
|
||||
// This file implements an algorithm possibly linked to the patent
|
||||
//
|
||||
// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant
|
||||
// affine recognition recognition of shapes (WO/2009/150361), patent pending.
|
||||
//
|
||||
// This file is made available for the exclusive aim of serving as
|
||||
// scientific tool to verify of the soundness and
|
||||
// completeness of the algorithm description. Compilation,
|
||||
// execution and redistribution of this file may violate exclusive
|
||||
// patents rights in certain countries.
|
||||
// The situation being different for every country and changing
|
||||
// over time, it is your responsibility to determine which patent
|
||||
// rights restrictions apply to you before you compile, use,
|
||||
// modify, or redistribute this file. A patent lawyer is qualified
|
||||
// to make this determination.
|
||||
// If and only if they don't conflict with any patent terms, you
|
||||
// can benefit from the following license terms attached to this
|
||||
// file.
|
||||
//
|
||||
// This program is provided for scientific and educational only:
|
||||
// you can use and/or modify it for these purposes, but you are
|
||||
// not allowed to redistribute this work or derivative works in
|
||||
// source or executable form. A license must be obtained from the
|
||||
// patent right holders for any other use.
|
||||
//
|
||||
//
|
||||
//*------------------------ compute_asift_matches-- -------------------------*/
|
||||
// Match the ASIFT keypoints.
|
||||
//
|
||||
// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
|
||||
//
|
||||
// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
|
||||
// Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
|
||||
// Reference: ASIFT online demo (You can try ASIFT with your own images online.)
|
||||
// http://www.ipol.im/pub/algo/my_affine_sift/
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "library.h"
|
||||
#include "demo_lib_sift.h"
|
||||
#include "frot.h"
|
||||
#include "fproj.h"
|
||||
#include <vector>
|
||||
using namespace std;
|
||||
|
||||
|
||||
int compute_asift_matches(int num_of_tilts1, int num_of_tilts2, int w1, int h1, int w2, int h2, int verb, vector< vector< keypointslist > >& keys1, vector< vector< keypointslist > >& keys2, matchingslist &matchings, siftPar &siftparameters);
|
||||
|
||||
1222
asift_match/src/demo_lib_sift.cpp
Executable file
1222
asift_match/src/demo_lib_sift.cpp
Executable file
File diff suppressed because it is too large
Load diff
298
asift_match/src/demo_lib_sift.h
Executable file
298
asift_match/src/demo_lib_sift.h
Executable file
|
|
@ -0,0 +1,298 @@
|
|||
// Authors: Unknown. Please, if you are the author of this file, or if you
|
||||
// know who are the authors of this file, let us know, so we can give the
|
||||
// adequate credits and/or get the adequate authorizations.
|
||||
|
||||
// WARNING:
|
||||
// This file implements an algorithm possibly linked to the patent
|
||||
//
|
||||
// David Lowe "Method and apparatus for identifying scale invariant
|
||||
// features in an image and use of same for locating an object in an
|
||||
// image", U.S. Patent 6,711,293.
|
||||
//
|
||||
// This file is made available for the exclusive aim of serving as
|
||||
// scientific tool to verify of the soundness and
|
||||
// completeness of the algorithm description. Compilation,
|
||||
// execution and redistribution of this file may violate exclusive
|
||||
// patents rights in certain countries.
|
||||
// The situation being different for every country and changing
|
||||
// over time, it is your responsibility to determine which patent
|
||||
// rights restrictions apply to you before you compile, use,
|
||||
// modify, or redistribute this file. A patent lawyer is qualified
|
||||
// to make this determination.
|
||||
// If and only if they don't conflict with any patent terms, you
|
||||
// can benefit from the following license terms attached to this
|
||||
// file.
|
||||
//
|
||||
// This program is provided for scientific and educational only:
|
||||
// you can use and/or modify it for these purposes, but you are
|
||||
// not allowed to redistribute this work or derivative works in
|
||||
// source or executable form. A license must be obtained from the
|
||||
// patent right holders for any other use.
|
||||
|
||||
|
||||
#ifndef _CLIBSIFT_H_
|
||||
#define _CLIBSIFT_H_
|
||||
|
||||
|
||||
|
||||
///////////// Description
|
||||
/// For each octave:
|
||||
/// - Divide in par.Scales scales
|
||||
/// - Convolve and compute differences of convolved scales
|
||||
/// - Look for a 3x3 multiscale extrema and contraste enough and with no predominant direction (no 1d edge)
|
||||
|
||||
/// For each extrema
|
||||
/// - Compute orientation histogram in neighborhood.
|
||||
/// - Generate a keypoint for each mode with this orientation
|
||||
|
||||
|
||||
/// For each keypoint
|
||||
/// - Create vector
|
||||
|
||||
|
||||
|
||||
///////////// Possible differences with MW
|
||||
/// Gaussian convolution
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include "numerics1.h"
|
||||
#include "library.h"
|
||||
#include "filter.h"
|
||||
#include "domain.h"
|
||||
#include "splines.h"
|
||||
#include "flimage.h"
|
||||
|
||||
|
||||
#include <vector>
|
||||
|
||||
// BASIC STRUCTURES:
|
||||
|
||||
// Keypoints:
|
||||
#define OriSize 8
|
||||
#define IndexSize 4
|
||||
#define VecLength IndexSize * IndexSize * OriSize
|
||||
|
||||
|
||||
/* Keypoint structure:
|
||||
position: x,y
|
||||
scale: s
|
||||
orientation: angle
|
||||
descriptor: array of gradient orientation histograms in a neighbors */
|
||||
struct keypoint {
|
||||
float x,y,
|
||||
scale,
|
||||
angle;
|
||||
float vec[VecLength];
|
||||
};
|
||||
|
||||
|
||||
/* Keypoint structure:
|
||||
position: x,y
|
||||
scale: s
|
||||
orientation: angle
|
||||
descriptor: array of gradient orientation histograms in a neighbors */
|
||||
struct keypoint_char {
|
||||
float x,y,
|
||||
scale,
|
||||
angle;
|
||||
unsigned char vec[VecLength];
|
||||
};
|
||||
|
||||
/* Keypoint structure:
|
||||
position: x,y
|
||||
scale: s
|
||||
orientation: angle
|
||||
descriptor: array of gradient orientation histograms in a neighbors */
|
||||
struct keypoint_short {
|
||||
float x,y,
|
||||
scale,
|
||||
angle;
|
||||
unsigned short vec[VecLength];
|
||||
};
|
||||
|
||||
/* Keypoint structure:
|
||||
position: x,y
|
||||
scale: s
|
||||
orientation: angle
|
||||
descriptor: array of gradient orientation histograms in a neighbors */
|
||||
struct keypoint_int {
|
||||
float x,y,
|
||||
scale,
|
||||
angle;
|
||||
unsigned int vec[VecLength];
|
||||
};
|
||||
|
||||
/* List of keypoints: just use the standard class vector: */
|
||||
typedef std::vector<keypoint> keypointslist;
|
||||
|
||||
/* List of keypoints: just use the standard class vector: */
|
||||
typedef std::vector<keypoint_char> keypointslist_char;
|
||||
typedef std::vector<keypoint_short> keypointslist_short;
|
||||
typedef std::vector<keypoint_int> keypointslist_int;
|
||||
|
||||
|
||||
|
||||
/* Matching: just use the standard class pair: */
|
||||
typedef std::pair<keypoint,keypoint> matching;
|
||||
|
||||
|
||||
/* List of matchings: just use the standard class vector: */
|
||||
typedef std::vector<matching> matchingslist;
|
||||
|
||||
|
||||
struct siftPar
|
||||
{
|
||||
|
||||
int OctaveMax;
|
||||
|
||||
int DoubleImSize;
|
||||
|
||||
int order;
|
||||
|
||||
|
||||
/* InitSigma gives the amount of smoothing applied to the image at the
|
||||
first level of each octave. In effect, this determines the sampling
|
||||
needed in the image domain relative to amount of smoothing. Good
|
||||
values determined experimentally are in the range 1.2 to 1.8.
|
||||
*/
|
||||
float InitSigma /*= 1.6*/;
|
||||
|
||||
|
||||
/* Peaks in the DOG function must be at least BorderDist samples away
|
||||
from the image border, at whatever sampling is used for that scale.
|
||||
Keypoints close to the border (BorderDist < about 15) will have part
|
||||
of the descriptor landing outside the image, which is approximated by
|
||||
having the closest image pixel replicated. However, to perform as much
|
||||
matching as possible close to the edge, use BorderDist of 4.
|
||||
*/
|
||||
int BorderDist /*= 5*/;
|
||||
|
||||
|
||||
/* Scales gives the number of discrete smoothing levels within each octave.
|
||||
For example, Scales = 2 implies dividing octave into 2 intervals, so
|
||||
smoothing for each scale sample is sqrt(2) more than previous level.
|
||||
Value of 2 works well, but higher values find somewhat more keypoints.
|
||||
*/
|
||||
|
||||
int Scales /*= 3*/;
|
||||
|
||||
|
||||
/// Decreasing PeakThresh allows more non contrasted keypoints
|
||||
/* Magnitude of difference-of-Gaussian value at a keypoint must be above
|
||||
this threshold. This avoids considering points with very low contrast
|
||||
that are dominated by noise. It is divided by Scales because more
|
||||
closely spaced scale samples produce smaller DOG values. A value of
|
||||
0.08 considers only the most stable keypoints, but applications may
|
||||
wish to use lower values such as 0.02 to find keypoints from low-contast
|
||||
regions.
|
||||
*/
|
||||
|
||||
//#define PeakThreshInit 255*0.04
|
||||
//#define PeakThresh PeakThreshInit / Scales
|
||||
float PeakThresh /*255.0 * 0.04 / 3.0*/;
|
||||
|
||||
/// Decreasing EdgeThresh allows more edge points
|
||||
/* This threshold eliminates responses at edges. A value of 0.08 means
|
||||
that the ratio of the largest to smallest eigenvalues (principle
|
||||
curvatures) is below 10. A value of 0.14 means ratio is less than 5.
|
||||
A value of 0.0 does not eliminate any responses.
|
||||
Threshold at first octave is different.
|
||||
*/
|
||||
float EdgeThresh /*0.06*/;
|
||||
float EdgeThresh1 /*0.08*/;
|
||||
|
||||
|
||||
/* OriBins gives the number of bins in the histogram (36 gives 10
|
||||
degree spacing of bins).
|
||||
*/
|
||||
int OriBins /*36*/;
|
||||
|
||||
|
||||
/* Size of Gaussian used to select orientations as multiple of scale
|
||||
of smaller Gaussian in DOG function used to find keypoint.
|
||||
Best values: 1.0 for UseHistogramOri = FALSE; 1.5 for TRUE.
|
||||
*/
|
||||
float OriSigma /*1.5*/;
|
||||
|
||||
|
||||
/// Look for local (3-neighborhood) maximum with valuer larger or equal than OriHistThresh * maxval
|
||||
/// Setting one returns a single peak
|
||||
/* All local peaks in the orientation histogram are used to generate
|
||||
keypoints, as long as the local peak is within OriHistThresh of
|
||||
the maximum peak. A value of 1.0 only selects a single orientation
|
||||
at each location.
|
||||
*/
|
||||
float OriHistThresh /*0.8*/;
|
||||
|
||||
|
||||
/// Feature vector is normalized to has euclidean norm 1.
|
||||
/// This threshold avoid the excessive concentration of information on single peaks
|
||||
/* Index values are thresholded at this value so that regions with
|
||||
high gradients do not need to match precisely in magnitude.
|
||||
Best value should be determined experimentally. Value of 1.0
|
||||
has no effect. Value of 0.2 is significantly better.
|
||||
*/
|
||||
float MaxIndexVal /*0.2*/;
|
||||
|
||||
|
||||
/* This constant specifies how large a region is covered by each index
|
||||
vector bin. It gives the spacing of index samples in terms of
|
||||
pixels at this scale (which is then multiplied by the scale of a
|
||||
keypoint). It should be set experimentally to as small a value as
|
||||
possible to keep features local (good values are in range 3 to 5).
|
||||
*/
|
||||
int MagFactor /*3*/;
|
||||
|
||||
|
||||
/* Width of Gaussian weighting window for index vector values. It is
|
||||
given relative to half-width of index, so value of 1.0 means that
|
||||
weight has fallen to about half near corners of index patch. A
|
||||
value of 1.0 works slightly better than large values (which are
|
||||
equivalent to not using weighting). Value of 0.5 is considerably
|
||||
worse.
|
||||
*/
|
||||
float IndexSigma /*1.0*/;
|
||||
|
||||
/* If this is TRUE, then treat gradients with opposite signs as being
|
||||
the same. In theory, this could create more illumination invariance,
|
||||
but generally harms performance in practice.
|
||||
*/
|
||||
int IgnoreGradSign /*0*/;
|
||||
|
||||
|
||||
|
||||
float MatchRatio /*0.6*/;
|
||||
|
||||
/*
|
||||
In order to constrain the research zone for matches.
|
||||
Useful for example when looking only at epipolar lines
|
||||
*/
|
||||
|
||||
float MatchXradius /*= 1000000.0f*/;
|
||||
float MatchYradius /*= 1000000.0f*/;
|
||||
|
||||
int noncorrectlylocalized;
|
||||
|
||||
};
|
||||
|
||||
//////////////////////////////////////////////////////////
|
||||
/// SIFT
|
||||
//////////////////////////////////////////////////////////
|
||||
|
||||
void default_sift_parameters(siftPar &par);
|
||||
|
||||
void compute_sift_keypoints(float *input, keypointslist& keypoints,int width, int height, siftPar &par);
|
||||
|
||||
|
||||
|
||||
|
||||
// MATCHING DETECTION FUNCTION:
|
||||
void compute_sift_matches( keypointslist& keys1, keypointslist& keys2, matchingslist& matchings, siftPar &par);
|
||||
|
||||
#endif // _LIBSIFT_H_
|
||||
|
||||
|
||||
|
||||
145
asift_match/src/domain.cpp
Executable file
145
asift_match/src/domain.cpp
Executable file
|
|
@ -0,0 +1,145 @@
|
|||
// Authors: Unknown. Please, if you are the author of this file, or if you
|
||||
// know who are the authors of this file, let us know, so we can give the
|
||||
// adequate credits and/or get the adequate authorizations.
|
||||
|
||||
#include "domain.h"
|
||||
|
||||
|
||||
#define DEBUG 0
|
||||
|
||||
|
||||
|
||||
|
||||
void apply_zoom(float *input, float *out, float zoom, int order, int width, int height)
|
||||
{
|
||||
|
||||
int nwidth = (int)( zoom * (float) width);
|
||||
int nheight = (int)( zoom * (float) height);
|
||||
|
||||
float *coeffs;
|
||||
float *ref;
|
||||
|
||||
float cx[12],cy[12],ak[13];
|
||||
|
||||
// Guoshen Yu, 2010.09.22, Windows versions
|
||||
vector<float> input_vec, coeffs_vec, ref_vec;
|
||||
input_vec = vector<float>(width*height);
|
||||
coeffs_vec = vector<float>(width*height);
|
||||
ref_vec = vector<float>(width*height);
|
||||
for (int i = 0; i < width*height; i++)
|
||||
input_vec[i] = input[i];
|
||||
|
||||
if (order!=0 && order!=1 && order!=-3 &&
|
||||
order!=3 && order!=5 && order!=7 && order!=9 && order!=11)
|
||||
{
|
||||
printf("unrecognized interpolation order.\n");
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
if (order>=3) {
|
||||
|
||||
coeffs = new float[width*height];
|
||||
|
||||
// Guoshen Yu, 2010.09.21, Windows version
|
||||
//finvspline(input,order,coeffs,width,height);
|
||||
finvspline(input_vec,order,coeffs_vec,width,height);
|
||||
for (int i = 0; i < width*height; i++)
|
||||
coeffs[i] = coeffs_vec[i];
|
||||
|
||||
ref = coeffs;
|
||||
if (order>3) init_splinen(ak,order);
|
||||
|
||||
} else
|
||||
{
|
||||
coeffs = NULL;
|
||||
ref = input;
|
||||
}
|
||||
|
||||
int xi,yi;
|
||||
float xp,yp;
|
||||
float res;
|
||||
int n1,n2;
|
||||
float bg = 0.0f;
|
||||
float p=-0.5;
|
||||
for(int i=0; i < nwidth; i++)
|
||||
for(int j=0; j < nheight; j++)
|
||||
{
|
||||
|
||||
xp = (float) i / zoom;
|
||||
yp = (float) j / zoom;
|
||||
|
||||
if (order == 0) {
|
||||
|
||||
xi = (int)floor((double)xp);
|
||||
yi = (int)floor((double)yp);
|
||||
|
||||
if (xi<0 || xi>=width || yi<0 || yi>=height)
|
||||
res = bg;
|
||||
else res = input[yi*width+xi];
|
||||
|
||||
} else {
|
||||
|
||||
|
||||
if (xp<0. || xp>=(float)width || yp<0. || yp>=(float)height) res=bg;
|
||||
else {
|
||||
xp -= 0.5; yp -= 0.5;
|
||||
int xi = (int)floor((double)xp);
|
||||
int yi = (int)floor((double)yp);
|
||||
float ux = xp-(float)xi;
|
||||
float uy = yp-(float)yi;
|
||||
|
||||
switch (order)
|
||||
{
|
||||
case 1: /* first order interpolation (bilinear) */
|
||||
n2 = 1;
|
||||
cx[0]=ux; cx[1]=1.-ux;
|
||||
cy[0]=uy; cy[1]=1.-uy;
|
||||
break;
|
||||
|
||||
case -3: /* third order interpolation (bicubic Keys' function) */
|
||||
n2 = 2;
|
||||
keys(cx,ux,p);
|
||||
keys(cy,uy,p);
|
||||
break;
|
||||
|
||||
case 3: /* spline of order 3 */
|
||||
n2 = 2;
|
||||
spline3(cx,ux);
|
||||
spline3(cy,uy);
|
||||
break;
|
||||
|
||||
default: /* spline of order >3 */
|
||||
n2 = (1+order)/2;
|
||||
splinen(cx,ux,ak,order);
|
||||
splinen(cy,uy,ak,order);
|
||||
break;
|
||||
}
|
||||
|
||||
res = 0.; n1 = 1-n2;
|
||||
if (xi+n1>=0 && xi+n2<width && yi+n1>=0 && yi+n2<height) {
|
||||
|
||||
int adr = yi*width+xi;
|
||||
for (int dy=n1;dy<=n2;dy++)
|
||||
for (int dx=n1;dx<=n2;dx++)
|
||||
res += cy[n2-dy]*cx[n2-dx]*ref[adr+width*dy+dx];
|
||||
} else
|
||||
|
||||
// Guoshen Yu, 2010.09.21, Windows
|
||||
for (int i = 0; i < width*height; i++)
|
||||
ref_vec[i] = ref[i];
|
||||
|
||||
for (int dy=n1;dy<=n2;dy++)
|
||||
for (int dx=n1;dx<=n2;dx++)
|
||||
// Guoshen Yu, 2010.09.21, Windows
|
||||
// res += cy[n2-dy]*cx[n2-dx]*v(ref,xi+dx,yi+dy,bg,width,height);
|
||||
res += cy[n2-dy]*cx[n2-dx]*v(ref_vec,xi+dx,yi+dy,bg,width,height);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
out[j*nwidth+i] = res;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
40
asift_match/src/domain.h
Executable file
40
asift_match/src/domain.h
Executable file
|
|
@ -0,0 +1,40 @@
|
|||
// Authors: Unknown. Please, if you are the author of this file, or if you
|
||||
// know who are the authors of this file, let us know, so we can give the
|
||||
// adequate credits and/or get the adequate authorizations.
|
||||
|
||||
|
||||
#ifndef _DOMAIN_H_
|
||||
#define _DOMAIN_H_
|
||||
|
||||
|
||||
#include "numerics1.h"
|
||||
#include "library.h"
|
||||
#include "splines.h"
|
||||
|
||||
|
||||
/// Compute homography from n points using svd
|
||||
void compute_planar_homography_n_points(float *x0, float *y0, float *x1, float *y1, int n, float **H);
|
||||
|
||||
|
||||
/// Compute homography using svd + Ransac
|
||||
void compute_ransac_planar_homography_n_points(float *x0, float *y0, float *x1, float *y1, int n, int niter, float tolerance, float **H);
|
||||
|
||||
/// Compute homography by using Lionel Code
|
||||
void compute_moisan_planar_homography_n_points(float *x0, float *y0, float *x1, float *y1, int n, int niter, float &epsilon, float **H, int &counter, int recursivity);
|
||||
|
||||
|
||||
/// Apply planar homography to image
|
||||
void compute_planar_homography_bounding_box(int width, int height, float **H, float *x0, float *y0, int *nwidth, int *nheight);
|
||||
|
||||
|
||||
void apply_planar_homography(float *input, int width, int height, float **H, float bg, int order, float *out, float x0, float y0, int nwidth, int nheight);
|
||||
|
||||
|
||||
/// Apply zoom of factor z
|
||||
void apply_zoom(float *input, float *out, float zoom, int order, int width, int height);
|
||||
|
||||
/// Apply general transformation
|
||||
void apply_general_transformation(float *input, float *transformx, float* transformy, float *out, float bg, int order, int width, int height, int nwidth,int nheight);
|
||||
|
||||
#endif
|
||||
|
||||
460
asift_match/src/filter.cpp
Executable file
460
asift_match/src/filter.cpp
Executable file
|
|
@ -0,0 +1,460 @@
|
|||
// Authors: Unknown. Please, if you are the author of this file, or if you
|
||||
// know who are the authors of this file, let us know, so we can give the
|
||||
// adequate credits and/or get the adequate authorizations.
|
||||
|
||||
#include "filter.h"
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////// Build Gaussian filters
|
||||
float * directional_gauss_filter(float xsigma, float ysigma, float angle, int *kwidth, int *kheight)
|
||||
{
|
||||
|
||||
|
||||
int ksize = (int)(2.0 * 2.0 * MAX(xsigma, ysigma) + 1.0);
|
||||
float *kernel = new float[ksize*ksize];
|
||||
|
||||
float xsigma2 = xsigma*xsigma;
|
||||
float ysigma2 = ysigma*ysigma;
|
||||
|
||||
int l2 = ksize/2;
|
||||
for(int y = -l2; y <= l2; y++)
|
||||
for(int x = -l2; x <= l2; x++)
|
||||
{
|
||||
|
||||
float a = (float) angle * PI / 180.0f;
|
||||
float sina = sin(a);
|
||||
float cosa = cos(a);
|
||||
|
||||
float ax = (float) x * cosa + (float) y * sina;
|
||||
float ay = -(float) x * sina + (float) y * cosa;
|
||||
kernel[(y+l2) * ksize + x + l2] = exp(-(ax*ax)/(2.0f*xsigma2) - (ay*ay)/(2.0f*ysigma2) );
|
||||
|
||||
}
|
||||
|
||||
|
||||
float sum=0.0;
|
||||
for(int i=0; i < ksize*ksize; i++) sum += kernel[i];
|
||||
for(int i=0; i < ksize*ksize; i++) kernel[i] /= sum;
|
||||
|
||||
*kwidth = ksize;
|
||||
*kheight = ksize;
|
||||
|
||||
return kernel;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/* Convolution with a kernel */
|
||||
/* No padding applied to the image */
|
||||
void convol(float *u,float *v,int width,int height,float *kernel,int kwidth,int kheight)
|
||||
{
|
||||
|
||||
// float S;
|
||||
// int K2,L2,m,n,kmin,kmax,lmin,lmax,l,k;
|
||||
|
||||
int K2 = kwidth / 2;
|
||||
int L2 = kheight / 2;
|
||||
|
||||
for(int y=0 ; y < height; y++)
|
||||
for (int x=0 ; x < width; x++) {
|
||||
|
||||
float S = 0.0;
|
||||
// kmax = MIN(kwidth-1,n+K2);
|
||||
// kmin = MAX(0,1+n+K2-width);
|
||||
// lmax = MIN(kheight-1,m+L2);
|
||||
// lmin = MAX(0,1+m+L2-height);
|
||||
|
||||
for (int l = -L2; l <= L2; l++)
|
||||
for (int k = -K2 ; k<= K2; k++)
|
||||
{
|
||||
int px=x+k;
|
||||
int py=y+l;
|
||||
|
||||
if (px>=0 && px < width && py>=0 && py<height)
|
||||
S += u[width*py + px] * kernel[kwidth*(l+L2) + k+K2];
|
||||
}
|
||||
|
||||
v[y*width+x] = (float) S;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void median(float *u,float *v, float radius, int niter, int width,int height)
|
||||
{
|
||||
|
||||
|
||||
int iradius = (int)(radius+1.0);
|
||||
int rsize=(2*iradius+1)*(2*iradius+1);
|
||||
|
||||
float * vector = new float[rsize];
|
||||
float * index = new float[rsize];
|
||||
|
||||
for(int n=0; n< niter;n++){
|
||||
|
||||
for(int x=0;x<width;x++)
|
||||
for(int y=0;y<height;y++){
|
||||
|
||||
int count=0;
|
||||
for(int i=-iradius;i<=iradius;i++)
|
||||
for(int j=-iradius;j<=iradius;j++)
|
||||
if ((float) (i*i + j*j) <= iradius*iradius){
|
||||
|
||||
int x0=x+i;
|
||||
int y0=y+j;
|
||||
|
||||
if (x0>=0 && y0>=0 && x0 < width && y0 < height) {
|
||||
vector[count] = u[y0*width+x0];
|
||||
index[count] = count;
|
||||
count++;
|
||||
}
|
||||
}
|
||||
|
||||
quick_sort(vector,index,count);
|
||||
v[y*width+x] = vector[count/2];
|
||||
|
||||
}
|
||||
|
||||
copy(v,u,width*height);
|
||||
}
|
||||
|
||||
delete[] vector;
|
||||
delete[] index;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void remove_outliers(float *igray,float *ogray,int width, int height)
|
||||
{
|
||||
|
||||
|
||||
int bloc=1;
|
||||
int bsize = (2*bloc+1)*(2*bloc+1)-1;
|
||||
for(int x=bloc;x<width-bloc;x++)
|
||||
for(int y=bloc;y<height-bloc;y++) {
|
||||
|
||||
int l = y*width+x;
|
||||
|
||||
int countmax=0;
|
||||
int countmin=0;
|
||||
float valueg0 = igray[l];
|
||||
|
||||
// float distmin = MAXFLOAT;
|
||||
float distmin = FLT_MAX; // Guoshen Yu
|
||||
float green = igray[l];
|
||||
|
||||
for(int i=-bloc;i<=bloc;i++)
|
||||
for(int j=-bloc;j<=bloc;j++)
|
||||
if ((i!=0 || j!=0)){
|
||||
|
||||
int l0 = (y+j)*width+x+i;
|
||||
|
||||
int valueg = (int) igray[l0];
|
||||
|
||||
if (valueg0>valueg) countmax++;
|
||||
if (valueg0<valueg) countmin++;
|
||||
|
||||
|
||||
float dist = fabsf(valueg - valueg0);
|
||||
|
||||
if (dist < distmin) {distmin=dist;green=valueg;}
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (countmin == bsize || countmax == bsize ) ogray[l]=green;
|
||||
else ogray[l] = igray[l];
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Convolution with a separable kernel */
|
||||
/* boundary condition: 0=zero, 1=symmetry */
|
||||
void separable_convolution(float *u, float *v, int width, int height,float * xkernel, int xsize,float *ykernel,int ysize,int boundary)
|
||||
{
|
||||
|
||||
int width2 = 2*width;
|
||||
int height2 = 2*height;
|
||||
|
||||
float *tmp = (float *) malloc(width*height*sizeof(float));
|
||||
|
||||
|
||||
/* convolution along x axis */
|
||||
float sum = 0.0;
|
||||
int org = xsize / 2;
|
||||
for (int y=height;y--;)
|
||||
for (int x=width;x--;) {
|
||||
|
||||
sum = 0.0;
|
||||
for (int i=xsize;i--;) {
|
||||
int s = x-i+org;
|
||||
switch(boundary) {
|
||||
|
||||
case 0:
|
||||
if (s>=0 && s<width) sum += xkernel[i]*u[y*width+s];
|
||||
break;
|
||||
|
||||
case 1:
|
||||
|
||||
while (s<0) s+=width2;
|
||||
while (s>=width2) s-=width2;
|
||||
if (s>=width) s = width2-1-s;
|
||||
sum += xkernel[i]*u[y*width+s];
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
tmp[y*width+x] = sum;
|
||||
}
|
||||
|
||||
/* convolution along y axis */
|
||||
org = ysize / 2;
|
||||
for (int y=height;y--;)
|
||||
for (int x=width;x--;) {
|
||||
|
||||
sum=0.0;
|
||||
for (int i=ysize;i--;) {
|
||||
int s = y-i+org;
|
||||
switch(boundary) {
|
||||
case 0:
|
||||
if (s>=0 && s<height) sum += ykernel[i]*tmp[s*width+x];
|
||||
break;
|
||||
case 1:
|
||||
while (s<0) s+=height2;
|
||||
while (s>=height2) s-=height2;
|
||||
if (s>=height) s = height2-1-s;
|
||||
sum += ykernel[i]*tmp[s*width+x];
|
||||
break;
|
||||
}
|
||||
}
|
||||
v[y*width+x] = sum;
|
||||
}
|
||||
|
||||
free(tmp);
|
||||
}
|
||||
|
||||
|
||||
void gaussian_convolution(float *u, float *v, int width, int height, float sigma)
|
||||
{
|
||||
|
||||
int ksize;
|
||||
float * kernel;
|
||||
|
||||
ksize = (int)(2.0 * 4.0 * sigma + 1.0);
|
||||
kernel = gauss(1,sigma,&ksize);
|
||||
|
||||
int boundary = 1;
|
||||
|
||||
copy(u,v,width*height);
|
||||
horizontal_convolution(v, v, width, height, kernel, ksize, boundary);
|
||||
vertical_convolution(v, v, width, height, kernel, ksize, boundary);
|
||||
delete[] kernel; /*memcheck*/
|
||||
}
|
||||
|
||||
|
||||
void gaussian_convolution(float *u, float *v, int width, int height, float sigma, int ksize)
|
||||
{
|
||||
float * kernel;
|
||||
kernel = gauss(1,sigma,&ksize);
|
||||
|
||||
int boundary = 1;
|
||||
|
||||
copy(u,v,width*height);
|
||||
horizontal_convolution(v, v, width, height, kernel, ksize, boundary);
|
||||
vertical_convolution(v, v, width, height, kernel, ksize, boundary);
|
||||
}
|
||||
|
||||
|
||||
void fast_separable_convolution(float *u, float *v, int width, int height,float * xkernel, int xsize,float *ykernel,int ysize,int boundary)
|
||||
{
|
||||
copy(u,v,width*height);
|
||||
|
||||
horizontal_convolution(v, v, width, height, xkernel, xsize, boundary);
|
||||
vertical_convolution(v, v, width, height, ykernel, ysize, boundary);
|
||||
|
||||
}
|
||||
|
||||
/* Loop unrolling simply sums 5 multiplications
|
||||
at a time to allow the compiler to schedule
|
||||
operations better and avoid loop overhead.
|
||||
*/
|
||||
void buffer_convolution(float *buffer,float *kernel,int size,int ksize)
|
||||
{
|
||||
|
||||
for (int i = 0; i < size; i++) {
|
||||
|
||||
float sum = 0.0;
|
||||
float *bp = &buffer[i];
|
||||
float *kp = &kernel[0];
|
||||
|
||||
|
||||
/* Loop unrolling: do 5 multiplications at a time. */
|
||||
// int k=0;
|
||||
|
||||
for(int k = 0; k < ksize; k++)
|
||||
sum += *bp++ * *kp++;
|
||||
|
||||
// for(;k + 4 < ksize; bp += 5, kp += 5, k += 5)
|
||||
// sum += bp[0] * kp[0] + bp[1] * kp[1] + bp[2] * kp[2] +
|
||||
// bp[3] * kp[3] + bp[4] * kp[4];
|
||||
|
||||
/* Do multiplications at a time on remaining items. */
|
||||
// for(; k < ksize; bp++ , kp++, k++) sum += *bp * (*kp);
|
||||
|
||||
buffer[i] = sum;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Convolve image with the 1-D kernel vector along image rows. This
|
||||
is designed to be as efficient as possible.
|
||||
*/
|
||||
void horizontal_convolution(float *u, float *v, int width, int height, float *kernel, int ksize, int boundary)
|
||||
{
|
||||
|
||||
int halfsize = ksize / 2;
|
||||
int buffersize = width + ksize;
|
||||
float *buffer = new float[buffersize];
|
||||
|
||||
for (int r = 0; r < height; r++) {
|
||||
|
||||
/// symmetry
|
||||
int l = r*width;
|
||||
if (boundary == 1)
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[i] = u[l + halfsize - 1 - i ];
|
||||
else
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[i] = 0.0;
|
||||
|
||||
|
||||
for (int i = 0; i < width; i++)
|
||||
buffer[halfsize + i] = u[l + i];
|
||||
|
||||
|
||||
if (boundary == 1)
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[i + width + halfsize] = u[l + width - 1 - i];
|
||||
else
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[i + width + halfsize] = 0.0;
|
||||
|
||||
buffer_convolution(buffer, kernel, width, ksize);
|
||||
for (int c = 0; c < width; c++)
|
||||
v[r*width+c] = buffer[c];
|
||||
}
|
||||
delete[] buffer; /*memcheck*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
void vertical_convolution(float *u, float *v, int width, int height, float *kernel,int ksize, int boundary)
|
||||
{
|
||||
int halfsize = ksize / 2;
|
||||
int buffersize = height + ksize;
|
||||
float *buffer = new float[buffersize];
|
||||
|
||||
for (int c = 0; c < width; c++) {
|
||||
|
||||
if (boundary == 1)
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[i] = u[(halfsize-i-1)*width + c];
|
||||
else
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[i] = 0.0f;
|
||||
|
||||
for (int i = 0; i < height; i++)
|
||||
buffer[halfsize + i] = u[i*width + c];
|
||||
|
||||
if (boundary == 1)
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[halfsize + height + i] = u[(height - i - 1)*width+c];
|
||||
else
|
||||
for (int i = 0; i < halfsize; i++)
|
||||
buffer[halfsize + height + i] = 0.0f;
|
||||
|
||||
buffer_convolution(buffer, kernel, height, ksize);
|
||||
|
||||
for (int r = 0; r < height; r++)
|
||||
v[r*width+c] = buffer[r];
|
||||
|
||||
}
|
||||
delete[] buffer; /*memcheck*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
void heat(float *input, float *out, float step, int niter, float sigma, int width, int height)
|
||||
{
|
||||
|
||||
int i,j,n,ksize,size,im,i1,j1,jm;
|
||||
float *kernel = NULL, *laplacian = NULL, *convolved = NULL;
|
||||
|
||||
|
||||
size = width*height;
|
||||
|
||||
if (sigma > 0.0) kernel = gauss(0,sigma,&ksize);
|
||||
|
||||
laplacian = (float *) malloc(size*sizeof(float));
|
||||
convolved = (float *) malloc(size*sizeof(float));
|
||||
|
||||
|
||||
|
||||
for(n=0; n < niter; n++)
|
||||
{
|
||||
|
||||
|
||||
if (sigma > 0.0)
|
||||
{
|
||||
|
||||
separable_convolution(input,convolved,width,height, kernel, ksize,kernel,ksize,1);
|
||||
|
||||
for(i=0; i< size; i++) laplacian[i] = convolved[i] - input[i];
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
|
||||
for (i=0; i < width;i++)
|
||||
for (j=0; j< height ;j++)
|
||||
{
|
||||
|
||||
if (j==0) jm=1; else jm=j-1;
|
||||
if (j==height-1) j1=height-2; else j1=j+1;
|
||||
|
||||
if (i==0) im=1; else im=i-1;
|
||||
if (i==width-1) i1=width-2; else i1=i+1;
|
||||
|
||||
laplacian[j*width + i] = - 4.0 * input[width*j+i] + input[width*j+im]+ input[width*j+i1]+input[width*jm + i] + input[width*j1 + i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
for(i=0; i < size; i++) out[i] = input[i] + step * laplacian[i];
|
||||
|
||||
copy(out,input,size);
|
||||
|
||||
}
|
||||
|
||||
|
||||
free(laplacian);
|
||||
free(convolved);
|
||||
if (kernel) free(kernel);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
38
asift_match/src/filter.h
Executable file
38
asift_match/src/filter.h
Executable file
|
|
@ -0,0 +1,38 @@
|
|||
// Authors: Unknown. Please, if you are the author of this file, or if you
|
||||
// know who are the authors of this file, let us know, so we can give the
|
||||
// adequate credits and/or get the adequate authorizations.
|
||||
|
||||
|
||||
#ifndef _FILTER_H_
|
||||
#define _FILTER_H_
|
||||
|
||||
|
||||
#include "library.h"
|
||||
|
||||
|
||||
float * directional_gauss_filter(float xsigma, float ysigma, float angle, int *kwidth, int *kheight);
|
||||
|
||||
|
||||
void median(float *u,float *v, float radius, int niter, int width,int height);
|
||||
void remove_outliers(float *igray,float *ogray,int width, int height);
|
||||
|
||||
/// Convolution with a separable kernel, boundary condition: 0=zero, 1=symmetry
|
||||
void separable_convolution(float *u, float *v, int width, int height, float *xkernel, int xsize, float *ykernel, int ysize,int boundary);
|
||||
|
||||
void buffer_convolution(float *buffer,float *kernel,int size,int ksize);
|
||||
void horizontal_convolution(float *u, float *v, int width, int height, float *kernel, int ksize, int boundary);
|
||||
void vertical_convolution(float *u, float *v, int width, int height, float *kernel,int ksize, int boundary);
|
||||
|
||||
void fast_separable_convolution(float *u, float *v, int width, int height,float * xkernel, int xsize,float *ykernel,int ysize,int boundary);
|
||||
|
||||
/// Can be called with u=v
|
||||
void gaussian_convolution(float *u, float *v, int width, int height, float sigma);
|
||||
void gaussian_convolution(float *u, float *v, int width, int height, float sigma, int ksize);
|
||||
|
||||
void convol(float *u, float *v, int width, int height, float *kernel, int kwidth, int kheight); /// Convolution with a kernel, No padding applied to the image
|
||||
|
||||
void heat(float *u, float *v, float step, int niter, float sigma, int width, int height);
|
||||
|
||||
|
||||
#endif // _FILTER_H_
|
||||
|
||||
86
asift_match/src/flimage.cpp
Executable file
86
asift_match/src/flimage.cpp
Executable file
|
|
@ -0,0 +1,86 @@
|
|||
// Authors: Unknown. Please, if you are the author of this file, or if you
|
||||
// know who are the authors of this file, let us know, so we can give the
|
||||
// adequate credits and/or get the adequate authorizations.
|
||||
|
||||
#include "flimage.h"
|
||||
|
||||
|
||||
|
||||
//////////////////////////////////////////////// Class flimage
|
||||
//// Construction
|
||||
flimage::flimage() : width(0), height(0), p(0)
|
||||
{
|
||||
}
|
||||
|
||||
flimage::flimage(int w, int h) : width(w), height(h), p(new float[w*h])
|
||||
{
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = 0.0;
|
||||
}
|
||||
|
||||
|
||||
flimage::flimage(int w, int h, float v) : width(w), height(h), p(new float[w*h])
|
||||
{
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = v;
|
||||
}
|
||||
|
||||
|
||||
flimage::flimage(int w, int h, float* v) : width(w), height(h), p(new float[w*h])
|
||||
{
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = v[j];
|
||||
}
|
||||
|
||||
|
||||
void flimage::create(int w, int h)
|
||||
{
|
||||
erase();
|
||||
width = w; height = h;
|
||||
p = new float[w*h];
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = 0.0;
|
||||
}
|
||||
|
||||
void flimage::create(int w, int h, float* v)
|
||||
{
|
||||
erase();
|
||||
width = w; height = h; p = new float[w*h];
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = v[j];
|
||||
}
|
||||
|
||||
|
||||
flimage::flimage(const flimage& im) : width(im.width), height(im.height), p(new float[im.width*im.height])
|
||||
{
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = im.p[j];
|
||||
}
|
||||
|
||||
flimage& flimage::operator= (const flimage& im)
|
||||
{
|
||||
if (&im == this) {
|
||||
return *this;
|
||||
}
|
||||
|
||||
if (width != im.width || height != im.height)
|
||||
{
|
||||
erase();
|
||||
width = im.width; height=im.height; p = new float[width*height];
|
||||
}
|
||||
|
||||
for (int j=width*height-1; j>=0 ; j--) p[j] = im.p[j];
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
//// Destruction
|
||||
void flimage::erase()
|
||||
{
|
||||
width = height = 0;
|
||||
if (p) delete[] p;
|
||||
p=0;
|
||||
}
|
||||
|
||||
flimage::~flimage()
|
||||
{
|
||||
erase();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show more
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Add a link
Reference in a new issue