Ajout affichage ROI + Interface simplifiée

Problème d'échelle avec les resize ASIFT a regler

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -10,7 +10,7 @@ ASIFT_matcher::ASIFT_matcher(): _verb(0), _nb_refs(0), _resize_imgs(false)
 
 // }
 
-bool ASIFT_matcher::addReference(const char* image, int num_tilts = 1)
+bool ASIFT_matcher::addReference(const char* image, unsigned int num_tilts)
 {
 	///// Read input
 	float * iarr1;
@@ -125,7 +125,7 @@ bool ASIFT_matcher::addReference(const char* image, int num_tilts = 1)
 	return true;
 }
 
-bool ASIFT_matcher::match(const char* image, int num_tilts = 1)
+bool ASIFT_matcher::match(const char* image, unsigned int num_tilts)
 {
 	if(_nb_refs<=0)
 	{
@@ -227,7 +227,7 @@ bool ASIFT_matcher::match(const char* image, int num_tilts = 1)
 
 	//// Match ASIFT keypoints
 
-	int num_matchings;
+	int num_matchings = 0;
 
 	for(unsigned int i = 0; i<_nb_refs;i++)
 	{
@@ -256,6 +256,104 @@ bool ASIFT_matcher::match(const char* image, int num_tilts = 1)
 	return true;
 }
 
+bool ASIFT_matcher::match(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;
+	}
+
+	///// Compute ASIFT keypoints
+	asift_keypoints keys;
+	int num_keys = 0;
+
+	time_t tstart, tend;
+	tstart = time(0);
+
+	num_keys = compute_asift_keypoints(image, w, h, num_tilts, _verb, keys, _siftParam);
+
+	tend = time(0);
+	cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+	cout<<"	"<< num_keys <<" ASIFT keypoints found in Input image"<< endl;
+
+	//// Match ASIFT keypoints
+
+	int num_matchings = 0;
+
+	for(unsigned int i = 0; i<_nb_refs;i++)
+	{
+		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, _verb, 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);
+		_matchings.push_back(matchings);
+	}
+
+	return true;
+}
+
+void ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w, int zoom) const
+{
+	if(getNbMatch()==0)
+	{
+		cerr<<"Error : cannot compute ROI without matchs"<<endl;
+		return;
+	}
+
+	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;
+
+	// x=zoom*upLe.first; //Système de coordonée ? (devrait etre bon)
+	// y=zoom*upLe.second;
+	// h=zoom*(doRi.second-upLe.second);
+	// w=zoom*(doRi.first-upLe.first);
+}
+
 void ASIFT_matcher::print() const
 {
 	for(unsigned int i=0; i< _keys.size();i++)
@@ -283,4 +381,14 @@ void ASIFT_matcher::print() const
 			}
 		}
 	}
+}
+
+unsigned int ASIFT_matcher::getNbMatch() const
+{
+	unsigned int res = 0;
+	for (unsigned int i=0;i<_num_matchings.size();i++)
+	{
+		res+=_num_matchings[i];
+	} 
+	return res;
 }

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -36,14 +36,17 @@ public:
 	ASIFT_matcher();
 	// virtual ~ASIFT_matcher();
 
-	bool addReference(const char* image, int num_tilts);
-	bool match(const char* image, int num_tilts);
+	bool addReference(const char* image, unsigned int num_tilts=1);
+	bool match(const char* image, unsigned int num_tilts =1);
+	bool match(vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
 	void print() const;
-	
+	void computeROI(int& x, int& y, unsigned int& h, unsigned int& w, int zoom =1) const;
+
 	void setResizeImg(bool resize_imgs){ _resize_imgs=resize_imgs;}
 
-	const vector < int >& getNbMatch()const{ return _num_matchings;}
-	const vector< matchingslist >& getMatch()const{ return _matchings;}
+	const vector < unsigned int >& getNbMatchs() const{ return _num_matchings;}
+	unsigned int getNbMatch() const;
+	const vector< matchingslist >& getMatch() const{ return _matchings;}
 
 protected:
 	//QUESCEQUESAI
@@ -61,7 +64,7 @@ protected:
 	vector< asift_keypoints > _keys;
 
 	//Matchs
-	vector < int > _num_matchings;
+	vector < unsigned int > _num_matchings;
 	vector< matchingslist > _matchings;
 
 	siftPar _siftParam;	

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

@@ -6,6 +6,10 @@
 
 #IncludeRegexTransform: 
 
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp
+ASIFT_matcher.hpp
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
+
 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
 stdio.h
 -
@@ -146,7 +150,3 @@ 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
-

ASIFT_tests/demo_ASIFT_src/book_training/train_image_000.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 000
-rows: 4
-cols: 4
-data:
-  - [0.5665910387, -0.8235039121, 0.02856399138, -0.004725561405]
-  - [-0.612495359, -0.444094245, -0.6539340461, 0.05318802529]
-  - [0.5512023495, 0.3530178583, -0.7560121439, 0.398670845]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_001.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 001
-rows: 4
-cols: 4
-data:
-  - [-0.6442421126, -0.7648185729, 0.00215661327, 0.1005236514]
-  - [-0.5078681912, 0.4256891629, -0.7489049586, -0.03211180135]
-  - [0.5718583747, -0.4835713879, -0.6626739108, 0.4744785946]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_002.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 002
-rows: 4
-cols: 4
-data:
-  - [0.5931860286, 0.8050635925, -0.001716825525, -0.1530651462]
-  - [0.5488091651, -0.4059313336, -0.7307723672, -0.09305480426]
-  - [-0.5890151405, 0.4325417487, -0.6826190738, 0.5348952909]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_003.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 003
-rows: 4
-cols: 4
-data:
-  - [-0.4033631815, 0.9148985892, -0.01608462887, -0.04515121073]
-  - [0.6287289807, 0.2643387569, -0.7313172297, -0.168069378]
-  - [-0.6648293109, -0.3050993168, -0.6818477794, 0.5964581417]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_004.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 004
-rows: 4
-cols: 4
-data:
-  - [-0.9985837435, 0.05141800958, -0.0136636575, 0.09960909748]
-  - [0.04448102767, 0.6659832775, -0.7446393169, -0.1074251457]
-  - [-0.02918810413, -0.7441924902, -0.6673272002, 0.5639220715]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_005.yml

@@ -1,8 +0,0 @@
-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]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_006.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 006
-rows: 4
-cols: 4
-data:
-  - [-0.9945932359, 0.06416141072, 0.0816554258, 0.1218390655]
-  - [-0.03089262028, -0.933506626, 0.357226854, 0.06690798951]
-  - [0.09914605993, 0.3527728626, 0.93044149, 0.2360881003]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_007.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 007
-rows: 4
-cols: 4
-data:
-  - [-0.03028468063, -0.4076156195, 0.9126512723, 0.05370078927]
-  - [-0.6648925807, 0.6899748614, 0.2860988409, 0.00863761359]
-  - [-0.7463247914, -0.5981506477, -0.2919162695, 0.5950621033]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_008.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 006
-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]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_009.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 009
-rows: 4
-cols: 4
-data:
-  - [-0.9994394457, 0.006264701471, -0.03288689451, 0.1238992921]
-  - [0.03112213929, -0.1881441717, -0.9816481972, 0.01594317069]
-  - [-0.01233721043, -0.9821214406, 0.1878437358, 0.4121166041]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/book_training/train_image_010.yml

@@ -1,8 +0,0 @@
-Book cMo for training image 010
-rows: 4
-cols: 4
-data:
-  - [-0.4708977952, -0.8758554817, 0.1055103862, 0.1637869872]
-  - [0.5260415703, -0.1827654425, 0.8305883814, -0.07876409183]
-  - [-0.7081917345, 0.4466250868, 0.5468002369, 0.3485744882]
-  - [0, 0, 0, 1]

ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -1,56 +1,143 @@
 #include "ASIFT_matcher.hpp"
 
-int main()//int argc, char **argv)
+int main(int argc, char **argv)
 {			
+	if ((argc !=2) && (argc != 3) && (argc != 4)) {
+        std::cerr << " ******************************************************************************* " << std::endl
+				  << " ***************************  ASIFT image matching  **************************** " << std::endl
+				  << " ******************************************************************************* " << std::endl
+				  << "Usage: " << argv[0] << " imgIn.png [Tilt number option] [Resize option: 0/1] " << std::endl
+									      << "- imgIn.png: input image (in PNG format). " << std::endl
+									      << "- [Tilt number option: 1..n]. " << std::endl 
+										  << "- [Resize option: 0/1]. 1: input images resize to 800x600 (default). 0: no resize. " << std::endl 
+   				  << " ******************************************************************************* " << std::endl
+				  << " *********************  Jean-Michel Morel, Guoshen Yu, 2010 ******************** " << std::endl
+				  << " ******************************************************************************* " << std::endl;
+        return 1;
+    }
 	
+	//////////////////////////////////////////////// Input
+	float * iarr1;
+    size_t w1, h1;
+    if (NULL == (iarr1 = read_png_f32_gray(argv[1], &w1, &h1))) {
+        std::cerr << "Unable to load image file " << argv[1] << std::endl;
+        return 1;
+    }
+    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	free(iarr1); /*memcheck*/
+
+	///// 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;	
+		
+	int flag_resize = 1;
+	if (argc == 4)
+	{	
+		flag_resize = atoi(argv[3]);
+	}
+	
+	if ((argc==2) || (argc == 3) || (flag_resize != 0))
+	{
+		cout << "WARNING: The input images 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;
+	}
+
 	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",
-  	  "adam1.png",
-  	  "train_image_003.png"};
+      "book_training/train_image_001.png"};
 	
     ASIFT_matcher matcher;
     matcher.setResizeImg(true);
-    matcher.addReference(refData[0].c_str(), 1);
-    matcher.addReference(refData[1].c_str(), 2);
-    matcher.addReference(refData[2].c_str(), 3);
+    matcher.addReference(refData[0].c_str(), 7);
+    matcher.addReference(refData[1].c_str(), 7);
     // matcher.print();
-    matcher.match(refData[5].c_str(), 4);
+    // matcher.match(refData[3].c_str(), 4);
+    if(argc>2)
+    	matcher.match(ipixels1_zoom, wS1, hS1, atoi(argv[2]));
+	else
+		matcher.match(ipixels1_zoom, wS1, hS1);
 
+    vector<unsigned int> NbMatch = matcher.getNbMatchs();
+    cout<<"Nb match : "<<NbMatch.size()<<endl;
+    for(unsigned int i=0; i<NbMatch.size(); i++)
+    {
+    	cout<<"	"<<NbMatch[i]<<endl;
+    }
+	
+	int x =0,y=0;
+	unsigned int h=1,w=1;
+	matcher.computeROI(x,y,h,w, zoom1); //ATTENTION ne pas oublie le resize -> besoin du coef zoom
 	
 	
-	// ///////////////// Output image containing line matches (the two images are concatenated one above the other)
-	// int band_w = 20; // insert a black band of width band_w between the two images for better visibility
+	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];				
+	//////////////////////////////////////////////////////////////////// Draw ROI	
+	draw_square(opixelsASIFT, x, y, w, h, 255, w1, h1);
+	///////////////////////////////////////////////////////////////// Save imgOut	
+	write_png_f32("./results/res.png", opixelsASIFT, w1, h1, 1);
 	
-	// int wo =  MAX(w1,w2);
-	// int ho = h1+h2+band_w;
-	
-	// float *opixelsASIFT = new float[wo*ho];
-	
-	// for(int j = 0; j < (int) ho; j++)
-	// 	for(int i = 0; i < (int) wo; i++)  opixelsASIFT[j*wo+i] = 255;		
-	
-	// /////////////////////////////////////////////////////////////////// Copy both images to output
-	// for(int j = 0; j < (int) h1; j++)
-	// 	for(int i = 0; i < (int) w1; i++)  opixelsASIFT[j*wo+i] = ipixels1[j*w1+i];				
-	
-	// for(int j = 0; j < (int) h2; j++)
-	// 	for(int i = 0; i < (int) (int)w2; i++)  opixelsASIFT[(h1 + band_w + j)*wo + i] = ipixels2[j*w2 + i];	
-	
-	// //////////////////////////////////////////////////////////////////// Draw matches
-	// matchingslist::iterator ptr = matchings.begin();
-	// for(int i=0; i < (int) matchings.size(); i++, ptr++)
-	// {		
-	// 	draw_line(opixelsASIFT, (int) (zoom1*ptr->first.x), (int) (zoom1*ptr->first.y), 
-	// 			  (int) (zoom2*ptr->second.x), (int) (zoom2*ptr->second.y) + h1 + band_w, 255.0f, wo, ho);		
-	// }
-			
-	// ///////////////////////////////////////////////////////////////// Save imgOut	
-	// write_png_f32(argv[3], opixelsASIFT, wo, ho, 1);
-	
-	// delete[] opixelsASIFT; /*memcheck*/
+	delete[] opixelsASIFT; /*memcheck*/
 	
 	// /////////// Output image containing line matches (the two images are concatenated one aside the other)
 	// int woH =  w1+w2+band_w;