Ajout entrée image générique avec CImg

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -14,70 +14,46 @@ ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_im
 bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
 {
 	///// Read input
-	float * iarr1;
+	// float * iarr1;
-    size_t w1, h1;
+ //    size_t w1, h1;
-    if (NULL == (iarr1 = read_png_f32_gray(image_path, &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;
 	}
-    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	//Convert to grayscale
-	free(iarr1); /*memcheck*/
+	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;
+	}
 
-	// cout<<"Size : "<<w1<<"/"<<h1<<" - "<<ipixels1.size()<<endl;
+	vector<float> ipixels1;
-
+    size_t w1=gray.width(), h1=gray.height();
-	// Mat imageMat;
+    ipixels1.assign(gray.begin(), gray.end());
- //    imageMat = imread(image_path);   // Read the file
-
- //    if(! imageMat.data )                              // Check for invalid input
- //    {
- //        cout <<  "Could not open or find " << image_path << std::endl;
- //        return -1;
- //    }                         
- //    vector<float> ipixels1;
- //    size_t w1=0, h1=0;
-
- //    if(imageMat.isContinuous())
- //    {
- //    	Mat M1;
- //    	cvtColor(imageMat,M1,COLOR_BGR2GRAY);
-
- //    	// M1.convertTo(M1,CV_32FC1);
- //    //Conversion for ASIFT
-	// 	if (M1.isContinuous()) 
-	// 	{
-	// 		ipixels1.assign((float*)M1.datastart, (float*)M1.dataend);
-	// 	} 
-	// 	else {
-	// 		for (int i = 0; i < M1.rows; ++i)
-	// 		{
-	// 			ipixels1.insert(ipixels1.end(), (float*)M1.ptr<uchar>(i), (float*)M1.ptr<uchar>(i)+M1.cols);
-	// 		}
-	// 	}
- //    // ipixels1.assign((float*)M1.datastart, (float*)M1.dataend);
- //    // ipixels1.assign(imageMat.begin<float>(), imageMat.end<float>());
- //    w1=M1.cols;
- //    h1=M1.rows;
-
- //    cout<<"Size : "<<w1<<"/"<<h1<<" - "<<ipixels1.size()<<endl;
-
- //    Mat M2=Mat(h1,w1,CV_32FC1);
-	// memcpy(M2.data,ipixels1.data(),ipixels1.size()*sizeof(float));
-
-	// namedWindow( "Display window", WINDOW_AUTOSIZE );// Create a window for display.
- //    imshow( "Display window", M2 );                   // Show our image inside it.
-
- //    float *opixelsASIFT = new float[w1*h1];
-	// /////////////////////////////////////////////////////////////////// Copy image to output
-	// for(int j = 0; j < (int) h1; j++)
-	// 	for(int i = 0; i < (int) w1; i++)  opixelsASIFT[j*w1+i] = ipixels1[j*w1+i];	
-
-	// ///////////////////////////////////////////////////////////////// Save imgOut	
-	// write_png_f32("img.png", opixelsASIFT, w1, h1, 1);
-	
-	// delete[] opixelsASIFT; /*memcheck*/
-
- //    waitKey(0);
-	// }
 
     ///// 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
@@ -193,14 +169,43 @@ unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts
 	}
 
 	///// Read input
-	float * iarr1;
+	// float * iarr1;
-    size_t w1, h1;
+ //    size_t w1, h1;
-    if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
+ //    if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
-        std::cerr << "Unable to load image file " << image_path << std::endl;
+ //        std::cerr << "Unable to load image file " << image_path << std::endl;
-        return 1;
+ //        return 1;
+ //    }
+ //    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	// free(iarr1); /*memcheck*/
+
+    cimg_library::CImg<float> image;
+	try
+	{
+		image.assign(image_path);
 	}
-    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	catch(cimg_library::CImgIOException)
-	free(iarr1); /*memcheck*/
+	{
+		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());
 
     ///// 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
@@ -530,14 +535,14 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 	std::ofstream file_key1(ref_path);
 	if (file_key1.is_open())
 	{
-		file_key1<<_nb_refs<<std::endl;
+		file_key1<<_nb_refs<<"  "<<std::endl;
 		for(unsigned int i=0; i<_keys.size();i++)
 		{
 			asift_keypoints kps =_keys[i];
 			// 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
-			file_key1 << _num_keys[i] << "  " << VecLength << "  " << _num_tilts[i] << "  " << std::endl;
+			file_key1 << _num_keys[i] << "  " << VecLength << "  " <<std::endl; //<< _num_tilts[i] << "  " << std::endl;
 			for (int tt = 0; tt < (int) kps.size(); tt++)
 			{
 				for (int rr = 0; rr < (int) kps[tt].size(); rr++)
@@ -573,15 +578,68 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 bool ASIFT_matcher::loadReferences(const char* ref_path)
 {
 	std::ifstream ref_file(ref_path);
-	std::string nb_ref;
+	std::string line, tmp;
+	std::stringstream iss;
 	if (ref_file.is_open())
 	{
-		std::getline(ref_file, nb_ref);
+		std::getline(ref_file, line);
-		//std::stoi(nb_ref, _nb_refs); //C++11
+		std::string::size_type sz;
-		_nb_refs = atoi(nb_ref.c_str());
+		_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);
+		_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::cout<<"Error VecLength doesn't correspond..."<<std::endl;
+				return false;
+			}
+
+			// std::getline(iss,tmp,' ');
+			// _num_tilts[i]=atoi(tmp.c_str());
+
+			keypointslist list;
+			for(unsigned int j =0; j<(unsigned int)_num_keys[j];j++)
+			{
+				keypoint nkp;
+
+				std::getline(ref_file, line);
+				std::stringstream iss(line);
+
+				std::getline(iss,tmp,' ');
+				// std::stof(nb_ref, nkp.x); //C++11
+				nkp.x=atof(tmp.c_str());
+
+				std::getline(iss,tmp,' ');
+				nkp.y=atof(tmp.c_str());
+
+				std::getline(iss,tmp,' ');
+				nkp.scale=atof(tmp.c_str());
+
+				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);
+			}
+			std::vector< keypointslist > vkps(1,list);
+			asift_keypoints akps(1,vkps);
+			_keys[i]=akps;
 		}
 	}
 	else 

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -3,14 +3,14 @@
 #include <string.h>
 #include <time.h>
 #include <vector>
-using namespace std;
+#include <sstream>
 
 #ifdef _OPENMP
 #include <omp.h>
 #endif
 
 #include "demo_lib_sift.h"
-#include "io_png/io_png.h"
+// #include "io_png/io_png.h"
 
 #include "library.h"
 #include "frot.h"
@@ -18,21 +18,12 @@ using namespace std;
 #include "compute_asift_keypoints.h"
 #include "compute_asift_matches.h"
 
-
+#include "CImg.h" //Need ImageMagick package
-// #include <opencv2/core/core.hpp>
-// #include <opencv2/highgui/highgui.hpp>
-// #include <opencv2/imgproc/imgproc.hpp>
-// using namespace cv;
 
 # define IM_X 800
 # define IM_Y 600
 
-// struct image
+using namespace std;
-// {
-// 	vector<float> img;
-// 	int width;
-// 	int height;
-// } image;
 
 typedef vector< vector< keypointslist > > asift_keypoints;
 

ASIFT_tests/demo_ASIFT_src/CMakeFiles/demo_ASIFT.dir/flags.make

@@ -7,7 +7,7 @@ C_FLAGS = -I/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
 
 C_DEFINES = 
 
-CXX_FLAGS =  -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O3 -ftree-vectorize -funroll-loops -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 -I/usr/include/opencv   
 
 CXX_DEFINES = 
 

ASIFT_tests/demo_ASIFT_src/CMakeFiles/demo_ASIFT.dir/link.txt

@@ -1 +1 @@
-/usr/bin/c++    -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O3 -ftree-vectorize -funroll-loops    CMakeFiles/demo_ASIFT.dir/demo_ASIFT.cpp.o CMakeFiles/demo_ASIFT.dir/numerics1.cpp.o CMakeFiles/demo_ASIFT.dir/frot.cpp.o CMakeFiles/demo_ASIFT.dir/splines.cpp.o CMakeFiles/demo_ASIFT.dir/fproj.cpp.o CMakeFiles/demo_ASIFT.dir/library.cpp.o CMakeFiles/demo_ASIFT.dir/flimage.cpp.o CMakeFiles/demo_ASIFT.dir/filter.cpp.o CMakeFiles/demo_ASIFT.dir/demo_lib_sift.cpp.o CMakeFiles/demo_ASIFT.dir/compute_asift_keypoints.cpp.o CMakeFiles/demo_ASIFT.dir/compute_asift_matches.cpp.o CMakeFiles/demo_ASIFT.dir/orsa.cpp.o CMakeFiles/demo_ASIFT.dir/io_png/io_png.c.o  -o demo_ASIFT -rdynamic io_png/libs/png/libpng.a io_png/libs/zlib/libzlib.a libMatch/libMatch.a libNumerics/libNumerics.a 
+/usr/bin/c++    -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    CMakeFiles/demo_ASIFT.dir/demo_ASIFT.cpp.o CMakeFiles/demo_ASIFT.dir/numerics1.cpp.o CMakeFiles/demo_ASIFT.dir/frot.cpp.o CMakeFiles/demo_ASIFT.dir/splines.cpp.o CMakeFiles/demo_ASIFT.dir/fproj.cpp.o CMakeFiles/demo_ASIFT.dir/library.cpp.o CMakeFiles/demo_ASIFT.dir/flimage.cpp.o CMakeFiles/demo_ASIFT.dir/filter.cpp.o CMakeFiles/demo_ASIFT.dir/demo_lib_sift.cpp.o CMakeFiles/demo_ASIFT.dir/compute_asift_keypoints.cpp.o CMakeFiles/demo_ASIFT.dir/compute_asift_matches.cpp.o CMakeFiles/demo_ASIFT.dir/orsa.cpp.o CMakeFiles/demo_ASIFT.dir/io_png/io_png.c.o  -o demo_ASIFT -rdynamic io_png/libs/png/libpng.a io_png/libs/zlib/libzlib.a libMatch/libMatch.a libNumerics/libNumerics.a 

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache

@@ -6,9 +6,65 @@
 
 #IncludeRegexTransform: 
 
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp
+./io_png/libs/png/png.h
-ASIFT_matcher.hpp
+../zlib/zlib.h
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
+./io_png/libs/zlib/zlib.h
+pngconf.h
+./io_png/libs/png/pngconf.h
+crtdbg.h
+-
+
+./io_png/libs/png/pngconf.h
+pngusr.h
+./io_png/libs/png/pngusr.h
+config.h
+./io_png/libs/png/config.h
+windows.h
+-
+stdio.h
+-
+stdio.h
+-
+sys/types.h
+-
+setjmp.h
+-
+strings.h
+-
+string.h
+-
+stdlib.h
+-
+fp.h
+-
+math.h
+-
+m68881.h
+-
+mem.h
+-
+alloc.h
+-
+malloc.h
+-
+time.h
+-
+dos.h
+-
+
+./io_png/libs/zlib/zconf.h
+windows.h
+-
+sys/types.h
+-
+unistd.h
+-
+unixio.h
+-
+
+./io_png/libs/zlib/zlib.h
+zconf.h
+./io_png/libs/zlib/zconf.h
 
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
 stdio.h
@@ -21,12 +77,12 @@ time.h
 -
 vector
 -
+sstream
+-
 omp.h
 -
 demo_lib_sift.h
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
-io_png/io_png.h
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
 library.h
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
 frot.h
@@ -37,6 +93,120 @@ compute_asift_keypoints.h
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
 compute_asift_matches.h
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h
+CImg.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CImg.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CImg.h
+cstdio
+-
+cstdlib
+-
+cstdarg
+-
+cstring
+-
+cmath
+-
+cfloat
+-
+climits
+-
+ctime
+-
+exception
+-
+algorithm
+-
+stdio.h
+-
+sys/types.h
+-
+sys/time.h
+-
+sys/stat.h
+-
+unistd.h
+-
+dirent.h
+-
+fnmatch.h
+-
+windows.h
+-
+shlobj.h
+-
+process.h
+-
+io.h
+-
+initializer_list
+-
+utility
+-
+X11/Xlib.h
+-
+X11/Xutil.h
+-
+X11/keysym.h
+-
+pthread.h
+-
+sys/ipc.h
+-
+sys/shm.h
+-
+X11/extensions/XShm.h
+-
+X11/extensions/Xrandr.h
+-
+omp.h
+-
+cstddef
+-
+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
@@ -112,8 +282,6 @@ library.h
 vector
 -
 
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
-
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
 stdio.h
 -
@@ -150,3 +318,41 @@ 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
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  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
+ /usr/include/opencv/cv.h
+ /usr/include/opencv/highgui.h

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/depend.make

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ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/flags.make

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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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ASIFT_tests/demo_ASIFT_src/CMakeLists.txt

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-  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -ftree-vectorize -funroll-loops")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L/usr/X11R6/lib -lm -lpthread -lX11")
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 ENDIF(CMAKE_COMPILER_IS_GNUCXX)
 
 
@@ -51,5 +53,5 @@ TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)
 
 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 ${OpenCV_LIBS})
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ASIFT_tests/demo_ASIFT_src/CMakeLists.txt~

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+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L/usr/X11R6/lib -lm -lpthread -lX11")
 ENDIF(CMAKE_COMPILER_IS_GNUCXX)
 
 
@@ -51,5 +53,5 @@ TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)
 
 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)
+TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics X11 ${OpenCV_LIBS})
 

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-329.902  120.271  0  0
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-234.895  193.677  0  0
-226.39  216.4  -1.1546e+30  -6.65027e+29
-302.004  265.42  2.36298e-38  4.66254e-39
-213.899  217.268  -1.18647e+30  -7.06243e+29
-361.56  175.641  1.17209e-38  6.41512e-39
-335.591  109.365  5.47768e-42  1.65872e-41
-324.343  230.746  1.05938e-41  2.97776e-42
-200.613  231.45  4.47e-41  2.4227e-41
-276.83  168.516  3.45406e-41  2.98687e-41
-321.742  118.784  2.55849e-41  5.42975e-41
-323.003  237.905  5.02436e-41  1.23356e-41
-302.831  249.399  8.72729e-42  2.25329e-42
-316.596  251.21  6.32448e-41  1.31344e-41
-347.217  134.738  1.2337e-41  1.74153e-41
-314.703  228.902  1.44404e-41  4.50237e-42
-334.101  108.517  2.54336e-42  7.69173e-42
-236.131  211.2  7.2087e-41  4.23248e-41
-344.853  190.984  -inf  -inf
-213.288  197.193  2.16088e-38  1.57015e-38
-328.318  183.82  1.4474e-41  8.3139e-42
-286.908  262.677  0  0
-329.308  223.292  -9.30007e+29  -2.75197e+29
-214.182  233.924  2.49088e-38  1.26699e-38
-355.339  178.388  -6.28131e+29  -3.33573e+29
-345.72  134.714  7.56862e-39  1.06848e-38
-311.78  113.743  2.23703e-41  5.32732e-41
-310.619  231.416  0  0
-373.969  159.965  1.85406e-41  1.27798e-41
-309.735  165.168  0  0
-249.772  140.789  1.76309e-35  2.36081e-35
-238.485  207.432  0  0
-223.937  244.824  3.37054e-35  1.48264e-35
-333.782  128.247  0  0
-320.158  247.95  2.81294e-35  6.01841e-36
-273.498  158.742  0  0
-328.724  185.128  0  0
-286.709  245.204  0  0
-370.969  152.352  0  0
-306.327  263.372  0  0
-288.261  278.4  0  0
-297.664  164.326  0  0
-302.871  262.452  4.5374e-41  9.46577e-42
-209.329  222.452  0  0
-324.548  216.759  6.27726e-41  2.17061e-41
-331.422  164.458  0  0
-318.343  289.053  3.53959e-35  3.29092e-36
-322.035  239.038  0  0
-304.19  261.129  3.38129e-35  7.12636e-36
-234.052  160.155  0  0
-310.954  163.872  1.94622e-35  1.64761e-35
-295.257  280.657  0  0
-345.72  134.714  1.13106e-35  1.57846e-35
-356.13  194.608  0  0
-220.907  219.773  3.55857e-35  2.02597e-35
-231.881  208.679  0  0
-215.788  233.93  3.83169e-35  1.94385e-35
-360.414  133.519  0  0
-362.374  195.101  3.78144e-35  1.34684e-35
-345.895  212.363  0  0
-226.282  154.786  4.69633e-35  5.32135e-35
-380.569  149.245  0  0
-349.105  129.027  1.85312e-35  3.14536e-35
-329.432  223.361  0  0
-230.322  240.956  1.21593e-34  5.43138e-35
-359.363  127.101  0  0
-334.043  219.91  9.06774e-35  2.68924e-35
-233.632  193.698  0  0
-253.589  132.355  6.1246e-35  9.35665e-35
-232.733  192.822  0  0
-286.893  264.162  -1.21496e+30  -2.9382e+29
-198.279  231.2  2.55199e-38  1.40825e-38
-368.5  184.908  2.50622e-41  1.02911e-41
-363.087  217.701  0  0
-229.075  187.019  3.11913e-35  2.44258e-35
-274.599  157.376  0  0
-211.173  241.714  -1.30043e+30  -6.25369e+29
-286.877  158.426  1.38864e-38  1.34053e-38
-314.946  238.305  5.21337e-35  1.36531e-35
-330.734  152.817  0  0
-211.799  223.313  2.44919e-41  1.37369e-41
-336.052  202.095  0  0
-328.607  157.198  -5.70597e+29  -5.08571e+29
-306.665  261.501  2.32019e-38  4.68836e-39
-343.543  223.417  -8.8466e+29  -2.254e+29
-320.64  117.778  6.49171e-39  1.4351e-38
-308.946  228.741  3.9249e-41  1.25472e-41
-399.689  171.593  0  0
-361.793  216.159  1.59402e-40  3.52847e-41
-229.794  223.1  0  0
-300.752  265.267  1.23104e-41  2.43826e-42
-334.005  116.532  0  0
-284.359  262.855  0  0
-360.535  177.034  0  0
-218.66  222.229  7.30076e-43  4.11982e-43
-225.668  227.496  0  0
-223.788  226.355  0  0
-383.632  157.799  0  0
-368.749  179.732  -2.22915e+29  -1.03424e+29
-297.472  251.055  2.24707e-38  5.71785e-39
-410.115  160.153  2.32616e-43  1.12104e-43
-308.694  241.623  0  0
-382.686  149.915  -1.42669e+29  -1.23198e+29
-374.146  144.098  7.52084e-39  7.76562e-39
-344.343  212.716  5.04467e-43  1.55544e-43
-348.723  199.907  0  0
-329.632  112.612  -9.8575e+28  -2.64062e+29
-266.881  171.626  1.57957e-38  1.37452e-38
-306.742  242.633  6.53005e-43  1.7236e-43
-390.409  153.214  0  0
-215.242  210.831  0  0
-219.261  221.14  0  0
-207.925  200.542  0  0
-388.111  167.273  0  0
-360.385  121.115  0  0
-341.413  199.071  0  0
-407.076  152.567  0  0
-415.84  149.312  0  0
-228.549  240.569  0  0
-289.53  144.534  0  0
-228.116  227.749  0  0
-294.689  261.183  0  0
-382.615  158.108  0  0
-326.441  231.344  0  0
-329.592  155.938  0  0
-312.816  233.08  0  0
-291.013  271.353  0  0
-400.742  149.18  0  0
-345.517  213.318  0  0
-344.363  127.999  0  0
-318.023  219.046  0  0
-302.491  189.846  0  0
-340.537  213.625  0  0
-414.455  163.961  0  0
-408.368  193.313  0  0
-359.498  179.021  0  0
-307.538  228.39  0  0
-383.958  144.21  0  0
-349.222  192.211  0  0
-201.086  208.189  0  0
-212.478  199.723  0  0
-402.114  151.4  0  0
-361.169  186.668  0  0
-304.703  257.817  0  0
-326.93  156.212  0  0
-236.503  212.397  0  0
-362.317  206.64  0  0
-385.622  182.61  0  0
-216.987  220.949  0  0
-305.227  190.221  0  0
-405.003  185.654  0  0
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ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -19,18 +19,49 @@ int main(int argc, char **argv)
 	
     char* output_img = "./results/res.png";
     char* output_match = "./results/matching.txt";
-    char* output_references = "./results/references.txt";
+    // char* output_references = "./results/references.txt";
 
 	//////////////////////////////////////////////// Input
-	float * iarr1;
+	// float * iarr1;
-    size_t w1, h1;
+ //    size_t w1, h1;
-    if (NULL == (iarr1 = read_png_f32_gray(argv[1], &w1, &h1))) {
+ //    if (NULL == (iarr1 = read_png_f32_gray(argv[1], &w1, &h1))) {
-        std::cerr << "Unable to load image file " << argv[1] << std::endl;
+ //        std::cerr << "Unable to load image file " << argv[1] << std::endl;
-        return 1;
+ //        return 1;
-    }
+ //    }
-    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+ //    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
-	free(iarr1); /*memcheck*/
+	// free(iarr1); /*memcheck*/
 
+    cimg_library::CImg<float> image;
+	try
+	{
+		image =cimg_library::CImg<float>(argv[1]);
+	}
+	catch(cimg_library::CImgIOException)
+	{
+		std::cerr << "Unable to load image file " << argv[1] << 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;
+	}
+	vector<float> ipixels1;
+    int w1=gray.width(), h1=gray.height();
+    ipixels1.assign(gray.begin(), gray.end());
+
+    // cout<<"Image size : "<<ipixels1.size()<<" - "<<image.spectrum()<<" - "<<w1<<" / "<<h1<<endl;
 	///// 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;
@@ -106,26 +137,36 @@ int main(int argc, char **argv)
 		zoom1 = 1;
 	}
 
-	unsigned int nb_ref =2;
+	// 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"};
-
-	// unsigned int nb_ref =11;
 	// std::string refData[] = {
- //      "toy_training/obj11__processed__0000_color.png",
+ //      "book_training/train_image_000.png", 
- //  	  "toy_training/obj11__processed__0001_color.png",
+ //      "book_training/train_image_001.png", 
- //  	  "toy_training/obj11__processed__0002_color.png",
+ //      "book_training/train_image_002.png", 
- //  	  "toy_training/obj11__processed__0003_color.png",
+ //      "book_training/train_image_003.png"};
- //  	  "toy_training/obj11__processed__0004_color.png",
+
- //  	  "toy_training/obj11__processed__0005_color.png",
+	unsigned int nb_ref =21;
- //  	  "toy_training/obj11__processed__0006_color.png",
+	std::string refData[] = {
- //  	  "toy_training/obj11__processed__0007_color.png",
+      "toy_training/obj1bg1__processed__0000_color.jpg",
- //  	  "toy_training/obj11__processed__0008_color.png",
+      "toy_training/obj1bg1__processed__0001_color.jpg",
- //  	  "toy_training/obj11__processed__0009_color.png",
+      "toy_training/obj1bg1__processed__0002_color.jpg",
- //  	  "toy_training/obj11__processed__0010_color.png",};
+      "toy_training/obj1bg1__processed__0003_color.jpg",
+      "toy_training/obj1bg1__processed__0004_color.jpg",
+      "toy_training/obj1bg1__processed__0005_color.jpg",
+      "toy_training/obj1bg1__processed__0006_color.jpg",
+      "toy_training/obj1bg1__processed__0007_color.jpg",
+      "toy_training/obj1bg1__processed__0008_color.jpg",
+      "toy_training/obj1bg1__processed__0009_color.jpg",
+      "toy_training/obj1bg1__processed__0010_color.jpg",
+      "toy_training/obj1bg1__processed__0011_color.jpg",
+      "toy_training/obj1bg1__processed__0012_color.jpg",
+      "toy_training/obj1bg1__processed__0013_color.jpg",
+      "toy_training/obj1bg1__processed__0014_color.jpg",
+      "toy_training/obj1bg1__processed__0015_color.jpg",
+      "toy_training/obj1bg1__processed__0016_color.jpg",
+      "toy_training/obj1bg1__processed__0017_color.jpg",
+      "toy_training/obj1bg1__processed__0018_color.jpg",
+      "toy_training/obj1bg1__processed__0019_color.jpg",
+      "toy_training/obj1bg1__processed__0020_color.jpg"};
 
     int tilt_ref = 7, tilt_input = 1;
     int nb_match;
@@ -147,7 +188,10 @@ int main(int argc, char **argv)
 		matcher.addReference(refData[i].c_str(), tilt_ref);
 	}
 
-	matcher.saveReferences(output_references);
+	// matcher.saveReferences(output_references);
+	// matcher.print();
+	// matcher.loadReferences(output_references);
+	// matcher.print();
 
 	nb_match = matcher.match(ipixels1_zoom, wS1, hS1, tilt_input);
 
@@ -196,7 +240,9 @@ int main(int argc, char **argv)
 	}
 
 	///////////////////////////////////////////////////////////////// Save imgOut	
-	write_png_f32(output_img, opixelsASIFT, w1, h1, 1);
+	// write_png_f32(output_img, opixelsASIFT, w1, h1, 1);
+	image.assign(opixelsASIFT,w1,h1);
+	image.save(output_img);
 	
 	delete[] opixelsASIFT; /*memcheck*/