Ajout prototype Wrapper ROS matcher

asift_match/src/ASIFT_matcher.hpp

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+#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