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17 changed files with 73897 additions and 43726 deletions
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@ -1,10 +1,24 @@
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/*
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* Image matching using Affine-SIFT algorithm.
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* Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
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* @author : antoine.harle@etu.upmc.Fr
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* Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
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* Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
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* Reference: ASIFT online demo (You can try ASIFT with your own images online.)
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* http://www.ipol.im/pub/algo/my_affine_sift/
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*/
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#include "ASIFT_matcher.hpp"
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//Default constructor
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ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
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{
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default_sift_parameters(_siftParam);
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}
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/* Constuctor from keypoints references (.txt)
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* ref_path : path to a text file with keypoints reference following the convention of saveReference function.
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*/
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ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
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{
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if(!loadReferences(ref_path))
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@ -18,7 +32,12 @@ ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
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// }
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//Return true if successfull
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/*
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* Add a reference image.
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* image_path : path to the image file (support the same format than CImg / ImageMagick).
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* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
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* Return true if the reference was loaded with success.
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*/
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bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
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{
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///// Read input
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@ -69,7 +88,14 @@ bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
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return addReference(ipixels1, w1, h1, num_tilts);
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}
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//Image : Gray scale image (image size = w*h)
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/*
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* Add a reference image.
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* image : Gray scale image. Image size must be equal to width * height.
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* w : Width of the image.
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* h : Height of the image.
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* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
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* Return true if the reference was loaded with success.
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*/
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bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
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{
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if(image.size()!=w*h)
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@ -180,7 +206,12 @@ bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, uns
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return true;
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}
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//Return number of match
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/*
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* Perform matching between an image and the references.
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* image_path : path to the image file (support the same format than CImg / ImageMagick).
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* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
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* Return number of matching keypoints found.
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*/
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unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
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{
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if(_nb_refs<=0)
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@ -234,8 +265,14 @@ unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts
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return match(ipixels1, w1, h1, num_tilts);
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}
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//Image : Gray scale image (image size = w*h)
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//Return number of match
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/*
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* Perform matching between an image and the references.
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* image : Gray scale image. Image size must be equal to width * height.
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* w : Width of the image.
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* h : Height of the image.
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* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
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* Return number of matching keypoints found.
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*/
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unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
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{
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if(image.size()!=w*h)
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@ -366,7 +403,15 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
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return _total_num_matchings;
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}
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//Return true if successfull
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/*
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* Compute the bounding rectangle of the matching keypoints.
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* Match function must have been called before and found at least one matching keypoint.
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* x : X-coordinate of the upper-left point.
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* y : Y-coordinate of the upper-left point.
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* h : Height of the rectangle.
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* w : Width of the rectangle.
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* Return true if the ROI was succesfully found and arguments modified.
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*/
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bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
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{
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if(getNbMatch()==0)
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@ -410,7 +455,13 @@ bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w)
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return true;
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}
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//Return true if successfull
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/*
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* Compute the centroid of the matching keypoints.
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* Match function must have been called before and found at least one matching keypoint.
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* cx : X-coordinate of the centroid.
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* cy : Y-coordinate of the centroid.
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* Return true if the ROI was succesfully found and arguments modified.
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*/
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bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
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{
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if(getNbMatch()==0)
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@ -437,11 +488,13 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
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return true;
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}
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//Filter keypoint which are far (Euclidian distance) from the center.
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//Not optimized
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//threshold : 1-68%/2-95%/3-99%
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//Return true if successfull
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bool ASIFT_matcher::distFilter(int threshold=2)
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/*
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* Perform a standard deviation filtering on the matching keypoints.
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* Match function must have been called before and found at least one matching keypoint.
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* threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
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* Return true if the filtering is done.
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*/
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bool ASIFT_matcher::distFilter(int threshold)
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{
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if(_showInfo)
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cout<<"filtering keypoint..."<<endl;
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@ -520,8 +573,16 @@ bool ASIFT_matcher::distFilter(int threshold=2)
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return false;
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}
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//Save reference data necessary for the matching
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//Doesn't save references images or Sift parameters
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/*
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* Save reference data necessary for the matching.
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* ref_path : path were the reference data will be saved (.txt).
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* Follow a modified convention of David Lowe (SIFT keypoints) :
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* - Number of reference.
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* - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
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* -
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* - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
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* Return true if the reference data was successfully saved.
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*/
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bool ASIFT_matcher::saveReferences(const char* ref_path) const
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{
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// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
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@ -572,8 +633,16 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
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return true;
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}
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//Load reference data necessary for the matching
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//Doesn't load references images or Sift parameters
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/*
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* Load reference data necessary for the matching.
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* ref_path : path from were the reference data will be loaded (.txt).
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* Follow a modified convention of David Lowe (SIFT keypoints) :
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* - Number of reference.
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* - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
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* -
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* - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
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* Return true if the reference data was successfully loaded.
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*/
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bool ASIFT_matcher::loadReferences(const char* ref_path)
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{
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std::ifstream ref_file(ref_path);
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@ -838,6 +907,10 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
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// return true;
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// }
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/*
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* Assignation operator.
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* m : ASIFT matcher object to copy.
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*/
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ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
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{
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@ -862,7 +935,7 @@ ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
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return *this;
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}
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//Debugging function
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//Debugging function : print content form the ASIFT matcher.
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void ASIFT_matcher::print() const
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{
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for(unsigned int i=0; i< _keys.size();i++)
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@ -891,14 +964,4 @@ void ASIFT_matcher::print() const
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}
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}
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}
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}
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// unsigned int ASIFT_matcher::getNbMatch() const
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// {
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// unsigned int res = 0;
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// for (unsigned int i=0;i<_num_matchings.size();i++)
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// {
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// res+=_num_matchings[i];
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// }
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// return res;
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// }
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}
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@ -1,3 +1,14 @@
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/*
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* Image matching using Affine-SIFT algorithm.
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* Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
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* @author : antoine.harle@etu.upmc.Fr
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* Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
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* Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
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* Reference: ASIFT online demo (You can try ASIFT with your own images online.)
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* http://www.ipol.im/pub/algo/my_affine_sift/
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*/
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#ifndef ASIFTMATCHER_HPP
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#define ASIFTMATCHER_HPP
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typedef vector< vector< keypointslist > > asift_keypoints;
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//ASIFT wrapper
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class ASIFT_matcher
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{
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public:
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ASIFT_matcher();
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ASIFT_matcher(const char* ref_path);
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ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;}
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ASIFT_matcher();//Default constructor.
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ASIFT_matcher(const char* ref_path); //Constuctor from keypoints references (.txt).
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ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} //Copy constructor.
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// virtual ~ASIFT_matcher();
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bool addReference(const char* image_path, unsigned int num_tilts=1);
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bool addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
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unsigned int match(const char* image_path, unsigned int num_tilts =1);
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unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
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bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the keypoints
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bool computeCenter(int& cx, int& cy) const;
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bool distFilter(int threshold); //Filter keypoint which are far (Euclidian distance) from the center.
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bool addReference(const char* image_path, unsigned int num_tilts =1); //Add a reference image.
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bool addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Add a reference image.
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unsigned int match(const char* image_path, unsigned int num_tilts =1); //Perform matching between an image and the references.
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unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Perform matching between an image and the references.
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bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the mathcing keypoints.
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bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
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bool distFilter(int threshold =2); //Perform a standard deviation filtering on the matching keypoints.
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bool saveReferences(const char* ref_path) const;
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bool loadReferences(const char* ref_path);
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bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
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bool loadReferences(const char* ref_path); //Load reference data necessary for the matching.
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ASIFT_matcher& operator=(const ASIFT_matcher& m);
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ASIFT_matcher& operator=(const ASIFT_matcher& m); //Assignation operator.
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//Setter/Getter
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unsigned int getNbRef() const{ return _nb_refs;}
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const vector< vector< float > >& getRefImgs() const{ return _im_refs;}
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const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;}
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@ -72,31 +83,31 @@ public:
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bool isShowingInfo() const{ return _showInfo;}
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void showInfo(bool showInfo){ _showInfo=showInfo;}
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void print() const; //Debugging function
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void print() const; //Debugging function : print content form the ASIFT matcher.
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protected:
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//Reference Images
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unsigned int _nb_refs;// = 0; //Number of reference images
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unsigned int _nb_refs;//Number of reference images
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vector< vector< float > > _im_refs; //Reference images used for matching
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vector< pair<int,int> > _size_refs; //Width/Height
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vector<float> _zoom_refs; //Zoom coeffs
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//ASIFT Keypoints
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//Reference ASIFT Keypoints
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vector< int > _num_keys; //Number of keypoint/reference
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vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision)
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vector< asift_keypoints > _keys; //Keypoints
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vector< asift_keypoints > _keys; //Reference keypoints
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//Matchs
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unsigned int _total_num_matchings;
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unsigned int _total_num_matchings; //Number of matching keypoints.
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vector < unsigned int > _num_matchings; //Number of match/reference
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vector< matchingslist > _matchings; //Matchs
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vector< matchingslist > _matchings; //Matching keypoints
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siftPar _siftParam; //SIFT parameters
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//Flags
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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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bool _resize_imgs;//Resize images to IM_X/IM_Y ?
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bool _showDebug;//Show debugging messages ?
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bool _showInfo; //Show info messages
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};
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@ -66,6 +66,10 @@ unixio.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.cpp
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ASIFT_matcher.hpp
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/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
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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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@ -1,436 +1,4 @@
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539 7
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0 3
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0
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315.444 258.335 287.672 258.758
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426.906 295.66 440.176 317.661
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306.55 228.25 274.809 227.61
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312.679 317.378 268.687 338.554
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311.468 251.003 283.062 249.146
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309.987 301.593 266.551 319.799
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312.535 318.82 268.482 339.697
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303.021 195.407 8.55526e-38 5.89486e-38
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310.986 314.466 -637.359 -795.004
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311.133 252.134 5070.64 4503.94
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290.293 324.426 477.522 665.354
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296.241 247.122 2627.53 2431.02
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319.537 253.996 30963.8 26842.1
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|
||||
369.683 252.202 7800.05 5426.99
|
||||
361.815 311.12 1393.12 1391.24
|
||||
305.399 242.426 8114.79 7167.87
|
||||
346.218 264.965 0 0
|
||||
332.406 288.152 613.468 622.116
|
||||
294.831 304.374 759.525 923.763
|
||||
316.902 313.934 0 0
|
||||
286.876 232.557 1941.8 1786.57
|
||||
402.667 265.105 9143.57 6167.83
|
||||
335.681 265.567 313.471 268.596
|
||||
409.484 260.111 0 0
|
||||
297.608 234.142 2124.83 1853.74
|
||||
286.432 243.757 1744.83 1665.72
|
||||
294.667 307.894 0 0
|
||||
283.426 255.372 0 0
|
||||
363.569 295.696 49156.8 46627.3
|
||||
425.53 281.433 37971.5 15751.4
|
||||
342.647 280.375 0 0
|
||||
348.579 264.902 0 0
|
||||
381.633 272.249 53601.6 41730
|
||||
296.867 323.421 21794.2 29371.3
|
||||
329.516 303.01 0 0
|
||||
265.848 352.511 0 0
|
||||
407.703 312.019 24882.5 20575.7
|
||||
332.091 317.175 2044.53 2441.33
|
||||
296.055 307.557 0 0
|
||||
444.294 125.151 1565.88 416.272
|
||||
342.298 296.163 33491 33843.9
|
||||
300.142 285.289 5272.72 5823.2
|
||||
359.754 246.222 2160.04 1530.11
|
||||
353.568 268.641 1342.79 1120.49
|
||||
331.55 300.466 1464.53 1635.42
|
||||
290.86 317.736 988.952 1296.62
|
||||
375.264 324.194 0 0
|
||||
296.392 237.649 527.388 476.942
|
||||
412.595 265.126 0 0
|
||||
358.168 293.516 335.679 326.18
|
||||
373.619 253.514 3795.93 2698.32
|
||||
311.271 168.823 1111.34 639.82
|
||||
401.217 261.185 2077.66 1333.29
|
||||
382.668 318.73 2217.16 2097.43
|
||||
346.813 281.22 0 0
|
||||
373.804 300.838 0 0
|
||||
374.134 303.545 3223.5 3063.42
|
||||
389.348 303.899 23619.7 20811.4
|
||||
408.698 261.44 2996.5 1925.09
|
||||
389.632 299.192 1145.44 999.426
|
||||
288.348 320.634 21743.2 29283.9
|
||||
345.135 336.567 20856.5 25179.4
|
||||
288.348 320.634 0 0
|
||||
366.271 272.74 0 0
|
||||
305.439 173.737 28347.8 16385.3
|
||||
334.061 242.239 43779.6 34537.4
|
||||
331.651 288.835 622.236 626.668
|
||||
434.417 107.519 0 0
|
||||
363.091 273.811 3438.61 3003.18
|
||||
293.874 356.488 705.063 1067.37
|
||||
370.197 304.97 0 0
|
||||
282.805 264.13 0 0
|
||||
360.322 331.099 7301.11 5067.38
|
||||
334.52 293.223 7256.71 7375.52
|
||||
368.493 300.185 346.867 333.365
|
||||
334.061 242.239 0 0
|
||||
1
|
||||
399.718 288.062 277.33 326.888
|
||||
396.156 187.19 411.45 231.444
|
||||
295.236 216.447 348.989 232.799
|
||||
294.391 216.291 346.461 238.332
|
||||
335.279 108.273 363.052 244.661
|
||||
288.392 161.936 354.401 243.317
|
||||
331.205 316.229 308.971 278.104
|
||||
353.149 271.48 0 0
|
||||
420.158 130.627 0 0
|
||||
287.235 150.893 0 0
|
||||
281.825 107.517 9.9238e-38 8.29566e-38
|
||||
334.52 293.223 0 0
|
||||
295.787 239.941 84296.2 61041.8
|
||||
305.174 101.745 14844.3 9246.4
|
||||
380.191 150.726 607.052 355.205
|
||||
382.588 284.484 -602.438 -748.12
|
||||
306.001 95.6839 7700.34 4476.44
|
||||
326 289.157 649.716 646.544
|
||||
379.107 156.775 1451.93 883.936
|
||||
370.665 137.782 49649.4 28934.7
|
||||
242.405 95.8541 42214.1 37096.1
|
||||
414.896 268.39 2749.2 3183.61
|
||||
326.609 287.896 686.092 644.26
|
||||
305.788 316.286 5741.93 6242.99
|
||||
299.54 327.777 40136.5 52731.5
|
||||
362.082 292.882 1143.1 883.176
|
||||
181.107 38.3101 863.158 503.8
|
||||
365.118 91.1141 3603.11 1967.16
|
||||
249.806 171.61 4203.24 3287.7
|
||||
248.845 172.232 1910.85 1495.44
|
||||
265.848 352.511 1209.93 1536.16
|
||||
202.375 126.468 39881 24727.4
|
||||
316.741 30.4016 10443.3 9743.85
|
||||
163.845 128.749 242.354 273.886
|
||||
371.079 308.799 0 0
|
||||
405.639 100.986 0 0
|
||||
259.714 304.239 2570.62 3053.5
|
||||
409.871 262.759 2825.59 3502.82
|
||||
443.762 165.05 210.739 286.967
|
||||
410.385 156.962 7488.55 5266.83
|
||||
343.309 340.396 0 0
|
||||
314.576 223.709 0 0
|
||||
350.276 227.305 0 0
|
||||
324.818 307.043 0 0
|
||||
272.913 147.353 3248.17 1927.65
|
||||
338.369 98.4246 8493.32 2579.28
|
||||
408.285 291.778 693.292 269.38
|
||||
365.403 307.681 0 0
|
||||
332.693 230.119 1392.13 780.507
|
||||
343.056 27.169 0 0
|
||||
365.67 236.885 0 0
|
||||
290.392 323.935 2193.52 1596.24
|
||||
403.516 260.281 40128.2 24871.3
|
||||
241.516 162.412 20000.5 11983.5
|
||||
287.967 195.201 1184.21 672.988
|
||||
334.161 106.906 2822.46 1829.35
|
||||
316.116 238.015 62188 47402.3
|
||||
362.775 97.8837 1347.81 1002.82
|
||||
225.668 130.918 0 0
|
||||
374.116 199.668 0 0
|
||||
242.724 43.0635 17653 6543.99
|
||||
2
|
||||
335.279 108.273 293.316 320.27
|
||||
297.007 307.701 278.345 299.513
|
||||
426.761 279.107 432.432 229.327
|
||||
419.921 312.477 418.514 259.301
|
||||
426.842 290.503 429.598 250.529
|
||||
373.655 148.51 292.586 283.03
|
||||
418.235 284.603 421.399 222.742
|
||||
420.434 264.926 0 0
|
||||
352.788 335.807 0 0
|
||||
415.416 313.132 0 0
|
||||
263.815 294.09 1.10484e-37 6.4847e-38
|
||||
305.535 110.065 0 0
|
||||
412.595 265.126 106723 53235.5
|
||||
427.752 290.847 17837.2 9773.14
|
||||
408.305 313.745 669.344 416.753
|
||||
371.823 244.933 -692.27 -730.191
|
||||
402.457 146.538 6341.08 4468.78
|
||||
381.789 177.569 579.074 509.046
|
||||
274.875 343.767 1633.16 724.912
|
||||
166.112 97.4101 32377.7 33654.5
|
||||
370.878 201.527 35279.3 39546.4
|
||||
397.812 314.803 3592.43 2312.06
|
||||
296.884 213.551 577.334 500.25
|
||||
426.188 126.052 5660.75 5655.29
|
||||
427.315 314.18 59916.9 33616.2
|
||||
431.397 170.804 906.726 660.777
|
||||
400.686 325.265 811.16 534.716
|
||||
406.86 280.189 2376.87 1954.84
|
||||
416.817 179.554 3148.69 3984.16
|
||||
252.425 172.859 1479.71 969.08
|
||||
243.542 167.584 1054.68 1170.54
|
||||
399.353 268.087 46561.3 21383.7
|
||||
285.28 148.61 7844.96 7348.98
|
||||
363.665 100.581 322.701 385.172
|
||||
247.437 171.242 0 0
|
||||
314.514 259.285 0 0
|
||||
293.749 303.981 2065.82 2061.82
|
||||
333.91 295 3324.34 2350.35
|
||||
315.398 261.309 329.16 311.05
|
||||
316.128 260.593 9633.23 5710.5
|
||||
272.051 149.168 0 0
|
||||
353.832 279.852 0 0
|
||||
387.011 252.057 0 0
|
||||
326.729 353.269 0 0
|
||||
387.34 133.756 1872.7 1284.81
|
||||
181.296 90.8006 8085.02 4931.67
|
||||
266.011 359.243 429.942 550.296
|
||||
294.12 356.712 0 0
|
||||
347.414 106.03 1152.89 460.938
|
||||
367.814 243.994 0 0
|
||||
355.437 262.124 0 0
|
||||
276.116 330.028 1952 1870.14
|
||||
245.682 283.175 30593.3 40367.9
|
||||
402.196 280.041 18874.5 25204.7
|
||||
402.042 281.31 1094.17 1461.14
|
||||
334.629 104.275 2227.37 1661.22
|
||||
340.604 99.2014 53221.5 39571.3
|
||||
274.939 286.578 736.908 663.669
|
||||
312.246 85.0304 0 0
|
||||
221.133 93.7771 0 0
|
||||
406.724 181.606 13917.5 9148.03
|
||||
323.202 29.8539 5857.92 6777.65
|
||||
426.245 280.928 2586.42 1900.16
|
||||
260.451 282.346 44694.7 27185.2
|
||||
359.068 259.876 24606.2 20138.1
|
||||
273.922 279.28 0 0
|
||||
315.191 30.302 0 0
|
||||
315.191 30.302 0 0
|
||||
305.196 244.343 2197.48 2254.45
|
||||
263.032 282.079 4625.92 4033.72
|
||||
343.056 27.169 763.856 762.812
|
||||
419.921 312.477 12555.4 7779.03
|
||||
3
|
||||
295.787 239.941 327.113 241.468
|
||||
288.016 312.978 324.56 154.569
|
||||
406.981 181.27 313.085 192.006
|
||||
409.622 156.738 255.664 257.307
|
||||
240.185 45.8944 326.634 199.284
|
||||
192.247 38.5606 400.039 269.443
|
||||
254.941 19.1675 323.848 147.479
|
||||
346.521 97.2295 0 0
|
||||
333.428 104.49 0 0
|
||||
443.762 165.05 0 0
|
||||
299.82 116.172 1.03035e-37 4.68266e-38
|
||||
305.569 314.319 0 0
|
||||
397.884 269.926 78667.3 48778.1
|
||||
309.148 216.613 13085.2 10293.6
|
||||
282.013 159.02 514.543 398.765
|
||||
295.236 216.447 -750.967 -845.493
|
||||
364.446 101.421 7554.75 6391.98
|
||||
271.543 97.2385 610.084 181.188
|
||||
181.25 54.7159 1256.32 714.692
|
||||
263.994 293.329 40653 38883
|
||||
408.698 261.44 41100 17804.8
|
||||
353.822 279.499 2730.41 2397.22
|
||||
319.348 229.23 611.064 694.17
|
||||
248.303 171.551 5551.43 6253.04
|
||||
343.453 350.469 42415.4 52057.9
|
||||
248.103 163.264 1058.88 500.181
|
||||
351.767 237.628 710.112 607.616
|
||||
403.235 308.051 2840.57 2705.22
|
||||
356.193 101.327 4469.91 2918.3
|
||||
361.509 212.926 1789.72 746.505
|
||||
326.729 353.269 1135.64 221.141
|
||||
192.664 66.0166 47135.3 39752.2
|
||||
422.925 305.489 10545.2 4330.54
|
||||
251.919 34.0013 368.641 146.207
|
||||
371.643 267.371 0 0
|
||||
301.358 67.9768 0 0
|
||||
338.448 297.443 2989.35 1886.22
|
||||
315.191 30.302 3419.99 1696.27
|
||||
282.86 225.062 274.304 166.415
|
||||
392.102 332.007 9488.22 9165.17
|
||||
373.4 108.098 0 0
|
||||
351.356 332.102 0 0
|
||||
271.845 150.977 0 0
|
||||
272.826 151.95 0 0
|
||||
298.303 116.572 1878.42 884.044
|
||||
264.599 280.372 8349.59 3651.67
|
||||
414.621 263.536 755.64 318.89
|
||||
267.478 285.116 0 0
|
||||
266.254 281.022 1145.67 528.936
|
||||
260.7 283.611 0 0
|
||||
228.901 101.484 0 0
|
||||
424.669 265.691 2089.66 2893.42
|
||||
296.665 111.453 37341.7 17283.1
|
||||
299.041 110.262 18116.5 8033.05
|
||||
261.828 292.432 1572.14 1040.04
|
||||
351.247 333.123 2336.26 1221.97
|
||||
369.369 137.12 37249.3 11630.9
|
||||
346.973 242.49 770.226 189.503
|
||||
244.898 104.021 0 0
|
||||
384.189 157.394 0 0
|
||||
319.406 353.887 13593 7799.06
|
||||
382.779 91.4915 11543 7359.17
|
||||
272.025 217.951 2564.88 3573.12
|
||||
290.402 213.275 26526.3 24223.5
|
||||
343.056 27.169 25479.8 12931.7
|
||||
272.025 217.951 0 0
|
||||
4
|
||||
5
|
||||
400.989 334.183 422.047 414.724
|
||||
313.356 60.9414 125.826 279.853
|
||||
431.595 280.967 465.697 333.614
|
||||
358.61 244.591 370.732 238.845
|
||||
368.31 313.691 423.186 184.998
|
||||
289.624 184.547 302.475 223.25
|
||||
400.686 325.265 426.843 414.985
|
||||
387.881 192.38 0 0
|
||||
375.877 170.355 0 0
|
||||
346.689 295.032 0 0
|
||||
425.693 277.997 1.36351e-37 1.01756e-37
|
||||
272.132 149.347 0 0
|
||||
356.018 269.283 110482 86978.2
|
||||
290.113 114.274 14743.6 12418.8
|
||||
310.023 326.464 679.756 655.473
|
||||
434.242 221.135 -650.438 -624.074
|
||||
346.789 96.6478 8450.53 6624.66
|
||||
372.378 118.139 745.478 523.338
|
||||
276.795 260.641 1705.25 699.672
|
||||
388.234 262.424 51063.2 30217.9
|
||||
357.376 317.348 46950.4 36224.3
|
||||
417.924 312.039 3283.53 1964.79
|
||||
268.756 275.036 780.072 620.704
|
||||
284.23 148.854 3853.1 4747.09
|
||||
346.422 234.012 61136.2 33666.2
|
||||
399.52 166.664 1116.39 989.154
|
||||
282.264 340.608 751.744 581.762
|
||||
371.08 265.905 2936.82 2359.9
|
||||
316.615 221.693 4062.7 3429.69
|
||||
398.745 305.813 1795.16 1221.89
|
||||
228.696 88.3114 1259.54 847.908
|
||||
320.275 252.553 48114 42793.9
|
||||
364.778 310.381 10662.8 8791.21
|
||||
364.865 309.114 366.987 301.237
|
||||
434.305 111.202 0 0
|
||||
386.775 230.137 0 0
|
||||
340.604 99.2014 3578.44 2892.94
|
||||
430.824 110.997 4082.31 2029.64
|
||||
167.12 107.527 165.674 273.175
|
||||
350.276 227.305 11440.8 5490.88
|
||||
401.504 273.88 0 0
|
||||
415.668 177.131 0 0
|
||||
309.488 56.6346 0 0
|
||||
299.281 373.312 0 0
|
||||
216.989 69.9899 3064.14 2746.17
|
||||
167.12 107.527 3644.83 6009.85
|
||||
6
|
||||
353.822 279.499 300.108 249.188
|
||||
427.54 288.564 350.247 248.64
|
||||
201.598 128.841 421.513 322.452
|
||||
318.787 103.48 453.075 307.593
|
||||
323.629 93.6823 270.415 129.889
|
||||
274.656 111.233 431.017 306.75
|
||||
322.024 244.067 325.105 246.355
|
||||
200.809 129.725 0 0
|
||||
326.729 353.269 0 0
|
||||
267.969 91.93 0 0
|
||||
399.372 298.281 8.02993e-38 8.36956e-38
|
||||
323.489 249.839 0 0
|
||||
427.075 283.229 67052.8 56948.3
|
||||
422.562 288.6 15676.3 11465.7
|
||||
369.494 140.566 319.604 445.693
|
||||
249.922 92.0149 -570.899 -670.775
|
||||
367.161 307.536 5625.58 5952.81
|
||||
365.403 307.681 533.752 571.45
|
||||
341.648 335.838 1078.6 854.912
|
||||
361.815 311.12 30811.6 33750
|
||||
325.49 219.844 40717.4 34745.2
|
||||
324.371 91.2047 2355.77 1791.4
|
||||
355.735 312.588 528.806 590.144
|
||||
393.514 188.838 3217.28 5336.6
|
||||
290.392 323.935 51548.6 40790.1
|
||||
402.457 146.538 779.775 593.856
|
||||
293.749 303.981 444.03 402.9
|
||||
368.606 269.915 2368.36 1575.66
|
||||
293.206 177.398 4491.48 3272.23
|
||||
294.888 176.516 2043.6 1493.12
|
||||
355.409 99.4525 926.452 696.672
|
||||
200.755 101.405 29940.4 22336.7
|
||||
329.48 294.824 6627.52 9327.5
|
||||
356.386 236.479 469.476 315.524
|
||||
374.576 128.273 0 0
|
||||
343.532 242.2 0 0
|
||||
167.293 78.7971 1505.88 2610.12
|
||||
264.69 301.195 2082.85 3041.78
|
||||
326.46 335.593 464.791 329.794
|
||||
191.405 45.3841 6087.32 8594.15
|
||||
268.514 117.022 0 0
|
||||
342.753 92.4752 0 0
|
||||
365.118 91.1141 0 0
|
||||
351.247 333.123 0 0
|
||||
272.389 335.171 1356.36 2558.36
|
||||
393.004 181.793 5085.28 3041.72
|
||||
391.573 182.046 462.298 276.52
|
||||
351.43 336.666 0 0
|
||||
295.925 112.383 658.173 1067.39
|
||||
184.393 42.515 0 0
|
||||
354.596 105.569 0 0
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load diff
Binary file not shown.
|
|
@ -137,59 +137,59 @@ int main(int argc, char **argv)
|
|||
zoom1 = 1;
|
||||
}
|
||||
|
||||
// unsigned int nb_ref =3;
|
||||
// std::string refData[] = {
|
||||
// "book_training/train_image_000.png",
|
||||
// "book_training/train_image_001.png",
|
||||
// "book_training/000.png",
|
||||
// "book_training/train_image_003.png"};
|
||||
|
||||
unsigned int nb_ref =7;
|
||||
unsigned int nb_ref =3;
|
||||
std::string refData[] = {
|
||||
// "robobo_references/0.jpg",
|
||||
// "robobo_references/1.jpg",
|
||||
// "robobo_references/2.jpg",
|
||||
// "robobo_references/3.jpg",
|
||||
// "robobo_references/4.jpg",
|
||||
// "robobo_references/5.jpg",
|
||||
// "robobo_references/6.jpg",
|
||||
"book_training/train_image_000.png",
|
||||
"book_training/train_image_001.png",
|
||||
"book_training/000.png",
|
||||
"book_training/train_image_003.png"};
|
||||
|
||||
"robobo_references/000.jpg",
|
||||
"robobo_references/001.jpg",
|
||||
"robobo_references/002.jpg",
|
||||
"robobo_references/003.jpg",
|
||||
"robobo_references/004.jpg",
|
||||
"robobo_references/005.jpg",
|
||||
"robobo_references/006.jpg",
|
||||
// unsigned int nb_ref =7;
|
||||
// std::string refData[] = {
|
||||
// // "robobo_references/0.jpg",
|
||||
// // "robobo_references/1.jpg",
|
||||
// // "robobo_references/2.jpg",
|
||||
// // "robobo_references/3.jpg",
|
||||
// // "robobo_references/4.jpg",
|
||||
// // "robobo_references/5.jpg",
|
||||
// // "robobo_references/6.jpg",
|
||||
|
||||
"robobo_references/000_2.jpg",
|
||||
"robobo_references/001_2.jpg",
|
||||
"robobo_references/002_2.jpg",
|
||||
"robobo_references/003_2.jpg",
|
||||
"robobo_references/004_2.jpg",
|
||||
"robobo_references/005_2.jpg",
|
||||
"robobo_references/006_2.jpg",
|
||||
"robobo_references/007_2.jpg",
|
||||
// "robobo_references/000.jpg",
|
||||
// "robobo_references/001.jpg",
|
||||
// "robobo_references/002.jpg",
|
||||
// "robobo_references/003.jpg",
|
||||
// "robobo_references/004.jpg",
|
||||
// "robobo_references/005.jpg",
|
||||
// "robobo_references/006.jpg",
|
||||
|
||||
"robobo_references/000.png",
|
||||
"robobo_references/001.png",
|
||||
"robobo_references/002.png",
|
||||
"robobo_references/003.png",
|
||||
"robobo_references/004.png",
|
||||
"robobo_references/005.png",
|
||||
"robobo_references/006.png",
|
||||
"robobo_references/000_a.png",
|
||||
"robobo_references/001_a.png",
|
||||
"robobo_references/002_a.png",
|
||||
"robobo_references/003_a.png",
|
||||
"robobo_references/004_a.png",
|
||||
"robobo_references/006_a.png",
|
||||
"robobo_references/000_2.png",
|
||||
"robobo_references/001_2.png",
|
||||
"robobo_references/002_2.png",
|
||||
"robobo_references/003_2.png",
|
||||
"robobo_references/004_2.png",
|
||||
"robobo_references/006_2.png"};
|
||||
// "robobo_references/000_2.jpg",
|
||||
// "robobo_references/001_2.jpg",
|
||||
// "robobo_references/002_2.jpg",
|
||||
// "robobo_references/003_2.jpg",
|
||||
// "robobo_references/004_2.jpg",
|
||||
// "robobo_references/005_2.jpg",
|
||||
// "robobo_references/006_2.jpg",
|
||||
// "robobo_references/007_2.jpg",
|
||||
|
||||
// "robobo_references/000.png",
|
||||
// "robobo_references/001.png",
|
||||
// "robobo_references/002.png",
|
||||
// "robobo_references/003.png",
|
||||
// "robobo_references/004.png",
|
||||
// "robobo_references/005.png",
|
||||
// "robobo_references/006.png",
|
||||
// "robobo_references/000_a.png",
|
||||
// "robobo_references/001_a.png",
|
||||
// "robobo_references/002_a.png",
|
||||
// "robobo_references/003_a.png",
|
||||
// "robobo_references/004_a.png",
|
||||
// "robobo_references/006_a.png",
|
||||
// "robobo_references/000_2.png",
|
||||
// "robobo_references/001_2.png",
|
||||
// "robobo_references/002_2.png",
|
||||
// "robobo_references/003_2.png",
|
||||
// "robobo_references/004_2.png",
|
||||
// "robobo_references/006_2.png"};
|
||||
|
||||
// unsigned int nb_ref =21;
|
||||
// std::string refData[] = {
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load diff
|
|
@ -1,10 +1,24 @@
|
|||
/*
|
||||
* Image matching using Affine-SIFT algorithm.
|
||||
* Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
|
||||
* @author : antoine.harle@etu.upmc.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 "ASIFT_matcher.hpp"
|
||||
|
||||
//Default constructor
|
||||
ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
|
||||
{
|
||||
default_sift_parameters(_siftParam);
|
||||
}
|
||||
|
||||
/* Constuctor from keypoints references (.txt)
|
||||
* ref_path : path to a text file with keypoints reference following the convention of saveReference function.
|
||||
*/
|
||||
ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
|
||||
{
|
||||
if(!loadReferences(ref_path))
|
||||
|
|
@ -18,7 +32,12 @@ ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
|
|||
|
||||
// }
|
||||
|
||||
//Return true if successfull
|
||||
/*
|
||||
* Add a reference image.
|
||||
* image_path : path to the image file (support the same format than CImg / ImageMagick).
|
||||
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
|
||||
* Return true if the reference was loaded with success.
|
||||
*/
|
||||
bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
|
||||
{
|
||||
///// Read input
|
||||
|
|
@ -69,7 +88,14 @@ bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
|
|||
return addReference(ipixels1, w1, h1, num_tilts);
|
||||
}
|
||||
|
||||
//Image : Gray scale image (image size = w*h)
|
||||
/*
|
||||
* Add a reference image.
|
||||
* image : Gray scale image. Image size must be equal to width * height.
|
||||
* w : Width of the image.
|
||||
* h : Height of the image.
|
||||
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
|
||||
* Return true if the reference was loaded with success.
|
||||
*/
|
||||
bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
|
||||
{
|
||||
if(image.size()!=w*h)
|
||||
|
|
@ -180,7 +206,12 @@ bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, uns
|
|||
return true;
|
||||
}
|
||||
|
||||
//Return number of match
|
||||
/*
|
||||
* Perform matching between an image and the references.
|
||||
* image_path : path to the image file (support the same format than CImg / ImageMagick).
|
||||
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
|
||||
* Return number of matching keypoints found.
|
||||
*/
|
||||
unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
|
||||
{
|
||||
if(_nb_refs<=0)
|
||||
|
|
@ -234,8 +265,14 @@ unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts
|
|||
return match(ipixels1, w1, h1, num_tilts);
|
||||
}
|
||||
|
||||
//Image : Gray scale image (image size = w*h)
|
||||
//Return number of match
|
||||
/*
|
||||
* Perform matching between an image and the references.
|
||||
* image : Gray scale image. Image size must be equal to width * height.
|
||||
* w : Width of the image.
|
||||
* h : Height of the image.
|
||||
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
|
||||
* Return number of matching keypoints found.
|
||||
*/
|
||||
unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
|
||||
{
|
||||
if(image.size()!=w*h)
|
||||
|
|
@ -366,7 +403,15 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
|
|||
return _total_num_matchings;
|
||||
}
|
||||
|
||||
//Return true if successfull
|
||||
/*
|
||||
* Compute the bounding rectangle of the matching keypoints.
|
||||
* Match function must have been called before and found at least one matching keypoint.
|
||||
* x : X-coordinate of the upper-left point.
|
||||
* y : Y-coordinate of the upper-left point.
|
||||
* h : Height of the rectangle.
|
||||
* w : Width of the rectangle.
|
||||
* Return true if the ROI was succesfully found and arguments modified.
|
||||
*/
|
||||
bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
|
||||
{
|
||||
if(getNbMatch()==0)
|
||||
|
|
@ -410,7 +455,13 @@ bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w)
|
|||
return true;
|
||||
}
|
||||
|
||||
//Return true if successfull
|
||||
/*
|
||||
* Compute the centroid of the matching keypoints.
|
||||
* Match function must have been called before and found at least one matching keypoint.
|
||||
* cx : X-coordinate of the centroid.
|
||||
* cy : Y-coordinate of the centroid.
|
||||
* Return true if the ROI was succesfully found and arguments modified.
|
||||
*/
|
||||
bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
|
||||
{
|
||||
if(getNbMatch()==0)
|
||||
|
|
@ -437,11 +488,13 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
|
|||
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)
|
||||
/*
|
||||
* Perform a standard deviation filtering on the matching keypoints.
|
||||
* Match function must have been called before and found at least one matching keypoint.
|
||||
* threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
|
||||
* Return true if the filtering is done.
|
||||
*/
|
||||
bool ASIFT_matcher::distFilter(int threshold)
|
||||
{
|
||||
if(_showInfo)
|
||||
cout<<"filtering keypoint..."<<endl;
|
||||
|
|
@ -520,8 +573,16 @@ bool ASIFT_matcher::distFilter(int threshold=2)
|
|||
return false;
|
||||
}
|
||||
|
||||
//Save reference data necessary for the matching
|
||||
//Doesn't save references images or Sift parameters
|
||||
/*
|
||||
* Save reference data necessary for the matching.
|
||||
* ref_path : path were the reference data will be saved (.txt).
|
||||
* Follow a modified convention of David Lowe (SIFT keypoints) :
|
||||
* - Number of reference.
|
||||
* - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
|
||||
* -
|
||||
* - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
|
||||
* Return true if the reference data was successfully saved.
|
||||
*/
|
||||
bool ASIFT_matcher::saveReferences(const char* ref_path) const
|
||||
{
|
||||
// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
|
||||
|
|
@ -572,8 +633,16 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
|
|||
return true;
|
||||
}
|
||||
|
||||
//Load reference data necessary for the matching
|
||||
//Doesn't load references images or Sift parameters
|
||||
/*
|
||||
* Load reference data necessary for the matching.
|
||||
* ref_path : path from were the reference data will be loaded (.txt).
|
||||
* Follow a modified convention of David Lowe (SIFT keypoints) :
|
||||
* - Number of reference.
|
||||
* - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
|
||||
* -
|
||||
* - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
|
||||
* Return true if the reference data was successfully loaded.
|
||||
*/
|
||||
bool ASIFT_matcher::loadReferences(const char* ref_path)
|
||||
{
|
||||
std::ifstream ref_file(ref_path);
|
||||
|
|
@ -838,6 +907,10 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
|
|||
// return true;
|
||||
// }
|
||||
|
||||
/*
|
||||
* Assignation operator.
|
||||
* m : ASIFT matcher object to copy.
|
||||
*/
|
||||
ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
|
||||
{
|
||||
|
||||
|
|
@ -862,7 +935,7 @@ ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
|
|||
return *this;
|
||||
}
|
||||
|
||||
//Debugging function
|
||||
//Debugging function : print content form the ASIFT matcher.
|
||||
void ASIFT_matcher::print() const
|
||||
{
|
||||
for(unsigned int i=0; i< _keys.size();i++)
|
||||
|
|
@ -891,14 +964,4 @@ 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;
|
||||
// }
|
||||
}
|
||||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Image matching using Affine-SIFT algorithm.
|
||||
* Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
|
||||
* @author : antoine.harle@etu.upmc.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/
|
||||
*/
|
||||
|
||||
|
||||
#ifndef ASIFTMATCHER_HPP
|
||||
#define ASIFTMATCHER_HPP
|
||||
|
||||
|
|
@ -30,28 +41,28 @@ 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;}
|
||||
ASIFT_matcher();//Default constructor.
|
||||
ASIFT_matcher(const char* ref_path); //Constuctor from keypoints references (.txt).
|
||||
ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} //Copy constructor.
|
||||
// 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 addReference(const char* image_path, unsigned int num_tilts =1); //Add a reference image.
|
||||
bool addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Add a reference image.
|
||||
unsigned int match(const char* image_path, unsigned int num_tilts =1); //Perform matching between an image and the references.
|
||||
unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Perform matching between an image and the references.
|
||||
bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the mathcing keypoints.
|
||||
bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
|
||||
bool distFilter(int threshold =2); //Perform a standard deviation filtering on the matching keypoints.
|
||||
|
||||
bool saveReferences(const char* ref_path) const;
|
||||
bool loadReferences(const char* ref_path);
|
||||
bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
|
||||
bool loadReferences(const char* ref_path); //Load reference data necessary for the matching.
|
||||
|
||||
ASIFT_matcher& operator=(const ASIFT_matcher& m);
|
||||
ASIFT_matcher& operator=(const ASIFT_matcher& m); //Assignation operator.
|
||||
|
||||
//Setter/Getter
|
||||
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;}
|
||||
|
|
@ -72,31 +83,31 @@ public:
|
|||
bool isShowingInfo() const{ return _showInfo;}
|
||||
void showInfo(bool showInfo){ _showInfo=showInfo;}
|
||||
|
||||
void print() const; //Debugging function
|
||||
void print() const; //Debugging function : print content form the ASIFT matcher.
|
||||
|
||||
protected:
|
||||
|
||||
//Reference Images
|
||||
unsigned int _nb_refs;// = 0; //Number of reference images
|
||||
unsigned int _nb_refs;//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
|
||||
//Reference 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
|
||||
vector< asift_keypoints > _keys; //Reference keypoints
|
||||
|
||||
//Matchs
|
||||
unsigned int _total_num_matchings;
|
||||
unsigned int _total_num_matchings; //Number of matching keypoints.
|
||||
vector < unsigned int > _num_matchings; //Number of match/reference
|
||||
vector< matchingslist > _matchings; //Matchs
|
||||
vector< matchingslist > _matchings; //Matching keypoints
|
||||
|
||||
siftPar _siftParam; //SIFT parameters
|
||||
|
||||
//Flags
|
||||
bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ?
|
||||
bool _showDebug;// = 0; //Show debugging messages ?
|
||||
bool _resize_imgs;//Resize images to IM_X/IM_Y ?
|
||||
bool _showDebug;//Show debugging messages ?
|
||||
bool _showInfo; //Show info messages
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,10 @@
|
|||
/*
|
||||
* ROS wrapper for the ASIFT_matcher object.
|
||||
* Track an object described in the references in a RGBD stream and publish it's center.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : ASIFT_matcher.cpp/.hpp, asift_match.launch
|
||||
*/
|
||||
|
||||
#include "ROS_matcher.hpp"
|
||||
|
||||
ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
|
||||
|
|
|
|||
|
|
@ -1,3 +1,9 @@
|
|||
/*
|
||||
* Rviz interactive object.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : RvizInterface.cpp/.hpp
|
||||
*/
|
||||
|
||||
#include "InteractiveObject.hpp"
|
||||
|
||||
unsigned int InteractiveObject::nextObjectID = 1;
|
||||
|
|
|
|||
|
|
@ -1,3 +1,9 @@
|
|||
/*
|
||||
* Rviz interactive object.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : RvizInterface.cpp/.hpp
|
||||
*/
|
||||
|
||||
#ifndef INTERACTIVEOBJECT_HPP
|
||||
#define INTERACTIVEOBJECT_HPP
|
||||
|
||||
|
|
|
|||
|
|
@ -1,35 +1,21 @@
|
|||
/*
|
||||
* Rviz panel for the configuration of the RvizInterface.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : RvizInterface.cpp/.hpp
|
||||
*/
|
||||
|
||||
#include "InterfacePanel.hpp"
|
||||
|
||||
namespace rviz_interface
|
||||
{
|
||||
|
||||
// BEGIN_TUTORIAL
|
||||
// Here is the implementation of the InterfacePanel class. InterfacePanel
|
||||
// has these responsibilities:
|
||||
//
|
||||
// - Act as a container for GUI elements DriveWidget and QLineEdit.
|
||||
// - Publish command velocities 10 times per second (whether 0 or not).
|
||||
// - Saving and restoring internal state from a config file.
|
||||
//
|
||||
// We start with the constructor, doing the standard Qt thing of
|
||||
// passing the optional *parent* argument on to the superclass
|
||||
// constructor, and also zero-ing the velocities we will be
|
||||
// publishing.
|
||||
InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
|
||||
{
|
||||
// Next we lay out the "output topic" text entry field using a
|
||||
// QLabel and a QLineEdit in a QHBoxLayout.
|
||||
QHBoxLayout* error_layout = new QHBoxLayout;
|
||||
error_layout->addWidget( new QLabel( "Max Error:" ));
|
||||
_max_error_editor = new QLineEdit;
|
||||
// max_error_editor->setValidator( new QDoubleValidator(0,MAX_ERROR,1000,max_error_editor)); // Ne gère pas les exceptions tout seul (retourne QValidator::Intermediate pour les valeurs hors bornes)
|
||||
error_layout->addWidget( _max_error_editor );
|
||||
//setLayout( error_layout );
|
||||
error_layout->addWidget( _max_error_editor );
|
||||
|
||||
// Then create the control widget.
|
||||
// drive_widget_ = new DriveWidget;
|
||||
|
||||
// Lay out the topic field above the control widget.
|
||||
QVBoxLayout* layout = new QVBoxLayout;
|
||||
_objective_type_editor = new QCheckBox( "Precise Objective" );
|
||||
_show_visuals_editor = new QCheckBox( "Show Visuals" );
|
||||
|
|
@ -41,29 +27,14 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
|
|||
layout->addWidget( _show_visuals_editor );
|
||||
setLayout( layout );
|
||||
|
||||
// Create a timer for sending the output. Motor controllers want to
|
||||
// be reassured frequently that they are doing the right thing, so
|
||||
// we keep re-sending velocities even when they aren't changing.
|
||||
//
|
||||
// Here we take advantage of QObject's memory management behavior:
|
||||
// since "this" is passed to the new QTimer as its parent, the
|
||||
// QTimer is deleted by the QObject destructor when this InterfacePanel
|
||||
// object is destroyed. Therefore we don't need to keep a pointer
|
||||
// to the timer.
|
||||
// QTimer* output_timer = new QTimer( this );
|
||||
|
||||
// Next we make signal/slot connections.
|
||||
connect( _max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
|
||||
connect( _objective_type_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateType(int) ));
|
||||
connect(_reset_button, SIGNAL (released()), this, SLOT (handleResetButton()));
|
||||
connect( _show_visuals_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateVisuals(int) ));
|
||||
// connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
|
||||
|
||||
// Start the timer.
|
||||
// output_timer->start( 100 );
|
||||
|
||||
// Make the control widget start disabled, since we don't start with an output topic.
|
||||
// drive_widget_->setEnabled( false );
|
||||
//Error editor disabled by default
|
||||
_max_error_editor->setEnabled( false );
|
||||
|
||||
_config_publisher = _nh.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
|
||||
|
|
@ -75,10 +46,7 @@ InterfacePanel::~InterfacePanel()
|
|||
delete _objective_type_editor;
|
||||
}
|
||||
|
||||
// Read the topic name from the QLineEdit and call setTopic() with the
|
||||
// results. This is connected to QLineEdit::editingFinished() which
|
||||
// fires when the user presses Enter or Tab or otherwise moves focus
|
||||
// away.
|
||||
//Update the error in the current_configuration & publish the configuration.
|
||||
void InterfacePanel::updateError()
|
||||
{
|
||||
current_config.max_error = _max_error_editor->text().toDouble();
|
||||
|
|
@ -89,6 +57,7 @@ void InterfacePanel::updateError()
|
|||
}
|
||||
}
|
||||
|
||||
//Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
|
||||
void InterfacePanel::updateType(int state)
|
||||
{
|
||||
current_config.objective_type = state;
|
||||
|
|
@ -107,6 +76,7 @@ void InterfacePanel::updateType(int state)
|
|||
}
|
||||
}
|
||||
|
||||
//Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
|
||||
void InterfacePanel::updateVisuals(int state)
|
||||
{
|
||||
current_config.show_visuals = state;
|
||||
|
|
@ -116,6 +86,7 @@ void InterfacePanel::updateVisuals(int state)
|
|||
}
|
||||
}
|
||||
|
||||
//Send a signal through the configuration telling the subscriber to follow the object it's linked to.
|
||||
void InterfacePanel::handleResetButton()
|
||||
{
|
||||
current_config.follow_object = true;
|
||||
|
|
@ -126,15 +97,6 @@ void InterfacePanel::handleResetButton()
|
|||
current_config.follow_object = false;
|
||||
}
|
||||
|
||||
// void InterfacePanel::setError( const QString& error )
|
||||
// {
|
||||
// current_config.max_error = error.toDouble();
|
||||
// if( ros::ok() && _config_publisher )
|
||||
// {
|
||||
// _config_publisher.publish( current_config );
|
||||
// }
|
||||
// }
|
||||
|
||||
// Save all configuration data from this panel to the given
|
||||
// Config object. It is important here that you call save()
|
||||
// on the parent class so the class id and panel name get saved.
|
||||
|
|
|
|||
|
|
@ -1,3 +1,9 @@
|
|||
/*
|
||||
* Rviz panel for the configuration of the RvizInterface.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : RvizInterface.cpp/.hpp
|
||||
*/
|
||||
|
||||
#ifndef INTERFACE_PANEL_HPP
|
||||
#define INTERFACE_PANEL_HPP
|
||||
|
||||
|
|
@ -27,24 +33,13 @@ class QLineEdit;
|
|||
|
||||
namespace rviz_interface
|
||||
{
|
||||
// BEGIN_TUTORIAL
|
||||
// Here we declare our new subclass of rviz::Panel. Every panel which
|
||||
// can be added via the Panels/Add_New_Panel menu is a subclass of
|
||||
// rviz::Panel.
|
||||
//
|
||||
|
||||
class InterfacePanel: public rviz::Panel
|
||||
{
|
||||
// This class uses Qt slots and is a subclass of QObject, so it needs
|
||||
// the Q_OBJECT macro.
|
||||
Q_OBJECT
|
||||
public:
|
||||
// QWidget subclass constructors usually take a parent widget
|
||||
// parameter (which usually defaults to 0). At the same time,
|
||||
// pluginlib::ClassLoader creates instances by calling the default
|
||||
// constructor (with no arguments). Taking the parameter and giving
|
||||
// a default of 0 lets the default constructor work and also lets
|
||||
// someone using the class for something else to pass in a parent
|
||||
// widget as they normally would with Qt.
|
||||
InterfacePanel( QWidget* parent = 0 );
|
||||
~InterfacePanel();
|
||||
|
||||
|
|
@ -57,42 +52,30 @@ public:
|
|||
// Next come a couple of public Qt slots.
|
||||
public Q_SLOTS:
|
||||
|
||||
// void setError( const QString& error );
|
||||
|
||||
// Here we declare some internal slots.
|
||||
protected Q_SLOTS:
|
||||
|
||||
|
||||
void updateError();
|
||||
void updateType(int state);
|
||||
void updateVisuals(int state);
|
||||
void handleResetButton();
|
||||
void updateError(); //Update the error in the current_configuration & publish the configuration.
|
||||
void updateType(int state); //Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
|
||||
void updateVisuals(int state); //Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
|
||||
void handleResetButton(); //Send a signal through the configuration telling the subscriber to follow the object it's linked to.
|
||||
|
||||
|
||||
// Then we finish up with protected member variables.
|
||||
protected:
|
||||
|
||||
rviz_interface::InterfaceConfig current_config;
|
||||
rviz_interface::InterfaceConfig current_config; //Current configuration which is sent at every interaction with the panel.
|
||||
|
||||
// One-line text editor for entering the outgoing ROS topic name.
|
||||
QLineEdit* _max_error_editor;
|
||||
QCheckBox* _objective_type_editor;
|
||||
QCheckBox* _show_visuals_editor;
|
||||
QPushButton* _reset_button;
|
||||
QLineEdit* _max_error_editor; //Line editor used to let user cusomize the maximum error allowed.
|
||||
QCheckBox* _objective_type_editor; //CheckBox used to modify the objective type.
|
||||
QCheckBox* _show_visuals_editor; //CheckBox used to choose if the error area should be shown.
|
||||
QPushButton* _reset_button; //Button to reattach a marker to it's linked object.
|
||||
|
||||
// The current name of the output topic.
|
||||
// QString _max_error;
|
||||
|
||||
// The ROS publisher for the command velocity.
|
||||
//Publisher
|
||||
ros::Publisher _config_publisher;
|
||||
|
||||
// The ROS node handle.
|
||||
ros::NodeHandle _nh;
|
||||
|
||||
// The latest velocity values from the drive widget.
|
||||
// float linear_velocity_;
|
||||
// float angular_velocity_;
|
||||
// END_TUTORIAL
|
||||
};
|
||||
|
||||
} // end namespace rviz_plugin_tutorials
|
||||
|
|
|
|||
|
|
@ -1,3 +1,10 @@
|
|||
/*
|
||||
* Rviz interface to send objective.
|
||||
* Composed of 3D marker and a configuration panel.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : InteractiveObject.cpp/.hpp, InterfacePanel.cpp/.hpp
|
||||
*/
|
||||
|
||||
#include "RvizInterface.hpp"
|
||||
|
||||
//Constructeur
|
||||
|
|
@ -86,6 +93,7 @@ void RvizInterface::configCallback(const rviz_interface::InterfaceConfig & new_c
|
|||
// }
|
||||
// }
|
||||
|
||||
//Fonction callback gérant la position des objets
|
||||
void RvizInterface::positionCallback(const rviz_interface::NamedPoint & new_center)
|
||||
{
|
||||
for(unsigned int i=0;i<_objects.size();i++)
|
||||
|
|
@ -107,6 +115,7 @@ void RvizInterface::positionCallback(const rviz_interface::NamedPoint & new_cent
|
|||
}
|
||||
}
|
||||
|
||||
//RvizInterface node.
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
//Initiate ROS
|
||||
|
|
|
|||
|
|
@ -1,3 +1,10 @@
|
|||
/*
|
||||
* Rviz interface to send objective.
|
||||
* Composed of 3D marker and a configuration panel.
|
||||
* @author : antoine.harle@etu.upmc.Fr
|
||||
* @see : InteractiveObject.cpp/.hpp, InterfacePanel.cpp/.hpp
|
||||
*/
|
||||
|
||||
#ifndef RVIZINTERFACE_HPP
|
||||
#define RVIZINTERFACE_HPP
|
||||
|
||||
|
|
@ -38,8 +45,7 @@ public:
|
|||
//Fonction Callback du panel Rviz gérant les configurations
|
||||
void configCallback(const rviz_interface::InterfaceConfig & new_config);
|
||||
|
||||
//Fonction callback gérant la position de l'objet
|
||||
//PROVISOIRE : Pour un seul objet avec test PCL
|
||||
//Fonction callback gérant la position des objets
|
||||
void positionCallback(const rviz_interface::NamedPoint & new_center);
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue