diff --git a/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp b/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp index 5012b89..42f52be 100644 --- a/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp +++ b/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp @@ -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& 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& 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& 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& 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..."< > 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& 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& 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& 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& 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 >& 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 > _size_refs; //Width/Height vector _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 }; diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache index bafa74c..f14a19f 100644 --- a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache +++ b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache @@ -66,6 +66,10 @@ unixio.h zconf.h ./io_png/libs/zlib/zconf.h +/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 - diff --git a/ASIFT_tests/demo_ASIFT_src/results/matching.txt b/ASIFT_tests/demo_ASIFT_src/results/matching.txt index 58f10b0..3bc536e 100644 --- a/ASIFT_tests/demo_ASIFT_src/results/matching.txt +++ 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5 11 129 44 8 10 3 13 34 13 74 88 11 1 13 15 10 14 35 13 5 9 129 36 5 4 12 27 67 37 17 0 0 2 78 121 129 20 0 0 0 1 66 129 10 0 15 11 26 18 9 7 3 9 13 8 2 2 56 58 16 2 0 0 0 0 27 103 57 1 0 0 0 0 17 116 14 0 +213.863 202.604 1.6732 1.37817 35 18 1 1 0 0 0 1 83 7 0 0 0 0 0 43 168 20 0 0 0 0 0 27 168 53 0 0 0 0 0 0 32 17 3 4 1 0 0 0 71 3 2 2 1 0 0 36 168 43 0 0 0 0 0 24 168 63 0 0 3 0 0 0 26 16 3 1 4 0 0 0 81 4 1 2 19 3 0 9 168 59 0 0 0 0 0 6 168 50 0 0 6 0 0 0 15 15 0 1 11 0 0 0 68 2 0 2 32 2 0 6 168 28 0 0 0 0 0 9 115 19 0 0 8 0 0 0 +433.13 162.04 1.57476 2.67394 3 0 0 0 0 0 94 137 56 1 2 2 0 0 28 137 13 2 14 18 0 0 0 7 0 0 14 24 0 0 0 0 31 5 60 62 0 0 12 57 137 21 12 4 0 0 3 125 90 16 27 31 0 0 0 7 0 0 16 38 0 0 0 0 11 12 125 96 0 0 5 32 137 127 77 19 0 0 1 12 122 34 11 29 1 0 0 2 0 0 11 55 1 0 0 0 3 2 10 3 0 0 76 137 75 30 12 1 0 0 43 137 64 9 0 7 4 0 0 74 0 0 0 21 9 0 0 0 +440.487 260.454 2.03429 1.68927 18 1 0 7 18 0 0 5 128 0 0 1 10 0 0 46 32 0 0 31 128 0 0 8 128 5 0 6 24 0 0 16 15 0 0 2 38 3 0 4 128 12 0 2 6 0 0 21 65 26 29 76 104 0 0 4 80 128 41 20 21 0 0 1 11 0 0 11 42 0 0 0 128 29 0 1 5 0 0 22 126 117 88 29 8 0 0 6 0 119 91 12 12 0 0 0 4 32 5 17 40 0 0 0 120 128 1 1 3 0 0 0 83 128 6 0 2 3 0 0 0 6 6 2 29 7 0 0 +425.923 263.149 2.18454 1.58634 7 6 1 8 43 0 0 1 133 3 0 3 3 0 0 14 89 2 1 23 42 9 1 6 91 4 2 15 10 7 4 6 11 7 2 8 64 0 0 0 133 28 0 2 12 0 0 4 107 12 0 5 101 63 9 3 133 0 0 2 29 48 33 40 10 4 2 8 63 0 0 0 133 5 0 2 12 0 0 25 102 1 0 4 133 11 0 15 133 1 0 1 81 7 2 6 4 1 0 3 54 5 0 2 133 12 0 0 10 3 0 14 91 13 3 23 133 0 0 6 133 46 7 10 58 0 0 0 +401.662 269.121 2.09528 1.28533 16 94 3 1 77 35 0 0 36 132 39 0 0 0 0 0 16 74 110 27 37 7 0 0 12 14 5 5 23 18 7 4 81 78 1 0 34 18 29 40 132 97 5 0 2 2 29 54 74 36 12 17 132 55 3 4 45 28 1 2 63 18 1 8 52 4 0 0 8 9 47 46 132 22 0 0 5 14 31 69 49 2 0 7 111 109 12 15 94 51 3 10 26 8 0 5 72 18 0 0 3 4 2 3 132 48 0 0 15 12 0 2 19 3 0 5 55 45 9 2 112 66 0 2 4 2 3 1 +340.555 272.139 2.06373 1.60798 32 0 0 1 62 0 0 4 133 27 0 0 0 0 0 1 99 20 1 6 57 12 0 3 118 8 0 1 13 5 0 25 46 9 0 3 87 0 0 0 133 29 0 0 0 0 0 3 113 10 0 9 93 10 0 5 133 14 0 2 21 2 0 13 47 30 0 5 88 0 0 0 133 41 0 0 0 0 0 11 121 8 1 24 89 2 0 9 133 2 0 5 31 1 0 22 55 4 0 3 73 0 0 7 133 20 0 0 0 0 0 16 103 14 1 11 100 7 0 6 133 7 2 4 31 4 0 7 +417.911 257.551 2.1739 1.59245 20 0 0 0 21 8 13 20 145 0 0 0 6 3 4 76 33 0 0 12 71 21 3 15 134 2 0 3 6 8 4 10 23 6 1 10 35 1 0 4 145 2 0 2 5 0 0 35 78 2 3 38 74 12 1 9 145 6 3 15 8 5 3 8 22 9 2 11 48 0 0 0 145 30 0 2 11 1 0 5 84 8 0 12 94 81 16 3 145 0 0 4 14 39 32 50 18 4 1 6 42 0 0 0 145 8 0 1 13 0 0 23 61 1 0 4 145 19 2 9 145 0 0 0 44 8 4 12 +353.148 262.577 1.98814 1.40258 51 28 0 0 57 15 0 0 130 96 0 0 0 0 0 0 103 47 1 4 74 17 0 0 96 19 0 1 41 10 0 2 86 27 0 0 34 8 0 1 130 71 0 0 4 1 0 17 87 43 3 8 130 44 1 9 130 59 2 3 26 13 0 1 64 35 0 0 12 2 0 0 130 18 0 0 2 1 1 72 68 13 15 29 60 15 6 44 130 71 14 11 6 2 0 0 54 15 0 0 2 0 0 0 130 51 0 0 0 0 0 4 74 31 32 26 2 2 0 10 130 69 15 14 1 1 0 0 +446.656 243.173 2.17532 2.15073 60 1 0 18 4 0 0 121 45 62 40 116 12 0 0 26 109 143 24 15 1 0 0 4 6 10 3 29 11 0 0 0 63 0 0 10 6 0 0 117 143 63 21 11 0 0 0 143 69 117 15 14 15 0 0 3 0 1 1 39 30 0 0 0 43 10 4 41 10 0 0 18 143 84 0 1 0 0 0 48 108 19 0 1 22 3 0 2 0 0 0 17 35 0 0 0 36 52 13 69 15 0 0 0 143 143 2 1 0 0 0 2 36 10 0 0 9 8 3 3 0 0 0 2 20 3 0 0 +373.074 249.568 1.95135 1.64916 71 0 0 0 0 0 0 5 130 3 0 0 0 0 0 46 86 8 7 3 0 1 9 73 130 6 4 3 1 1 6 25 95 4 0 0 2 0 0 4 130 31 0 0 0 0 0 21 130 15 1 0 0 1 11 41 130 7 2 0 0 2 17 52 105 7 0 0 5 0 0 9 130 65 0 0 0 0 0 18 95 92 16 3 0 0 1 11 130 27 18 8 0 0 2 14 94 40 0 1 7 0 0 2 130 114 1 0 0 0 0 0 79 69 8 4 4 6 11 3 126 9 7 11 3 7 16 17 +333.923 263.547 2.19013 1.68026 36 0 0 3 33 0 0 7 143 4 1 2 2 0 0 15 65 16 5 30 33 1 0 6 143 15 0 1 1 0 0 32 45 0 0 8 65 0 0 9 143 13 0 0 3 0 0 6 98 10 1 9 87 11 0 11 143 6 0 0 6 2 0 48 49 5 0 13 92 0 0 1 143 8 0 0 3 0 0 15 99 3 0 19 93 3 0 12 143 5 0 3 11 0 0 36 36 15 0 15 91 0 0 1 143 23 0 0 0 0 0 17 97 4 1 22 71 1 0 12 143 0 0 4 23 1 0 28 +322.232 261.427 2.18619 1.6593 33 1 0 3 22 3 1 4 153 0 0 0 4 2 0 53 54 0 0 1 26 17 3 47 153 0 0 0 0 0 0 57 44 0 0 1 36 4 2 5 153 4 0 0 3 0 0 16 82 5 0 7 49 10 1 23 153 2 0 0 1 0 0 53 47 0 0 4 55 0 0 9 153 9 1 2 2 0 0 15 95 25 7 40 49 3 0 7 153 23 1 2 2 0 0 38 40 0 0 6 62 0 0 5 153 16 0 0 3 0 0 2 84 9 0 4 78 11 0 8 153 5 0 0 6 2 0 33 +307.735 259.247 2.15188 1.54398 13 1 0 0 70 6 0 0 151 11 0 0 1 1 0 9 97 7 4 8 53 35 4 25 151 24 6 2 9 7 3 28 21 4 0 2 76 5 0 0 151 33 0 0 2 0 0 3 113 29 11 15 44 7 1 9 151 62 15 3 3 0 0 11 23 3 0 3 50 9 1 0 151 7 0 0 1 1 0 21 112 1 0 0 38 20 3 36 151 5 0 0 1 1 0 31 29 3 0 0 28 7 2 2 151 23 0 0 1 0 0 5 68 6 0 0 28 18 2 20 151 6 0 0 1 1 0 22 +328.029 253.749 2.14213 1.70147 63 0 0 0 4 1 1 8 153 1 0 2 10 2 0 21 62 3 0 5 31 5 1 27 153 1 0 0 0 0 0 53 72 0 0 1 13 0 0 14 153 7 2 9 8 0 0 23 69 24 7 39 40 2 0 12 153 14 0 0 0 0 0 58 72 0 0 4 27 0 0 11 153 9 0 1 13 0 0 7 71 6 0 7 95 11 0 16 153 4 0 0 1 1 0 56 59 5 0 6 36 0 0 1 153 4 0 1 7 0 0 21 57 2 0 21 74 1 0 12 153 3 0 1 4 0 0 40 +288.854 258.429 2.13259 1.52828 3 0 0 2 29 58 84 46 82 46 5 7 19 29 8 3 20 23 10 36 18 0 0 1 155 25 1 1 0 0 0 2 30 0 0 1 22 14 27 15 155 61 5 17 10 3 6 9 43 37 20 87 81 0 0 1 155 77 11 4 2 0 0 0 48 0 0 0 36 8 0 2 155 4 0 2 14 4 1 26 74 13 3 16 101 18 3 16 155 39 2 1 2 0 0 5 41 3 0 0 25 3 0 0 155 11 0 0 7 6 0 13 50 8 5 6 49 37 6 27 155 23 2 0 0 1 1 18 +382.009 235.551 1.99904 1.9778 80 0 0 0 0 0 0 51 65 16 2 0 0 1 4 43 101 21 13 3 0 1 3 73 117 0 0 3 3 0 0 106 112 9 0 0 0 0 0 33 118 41 1 0 0 0 0 26 51 23 17 9 6 19 14 30 118 0 1 1 1 4 4 118 118 26 0 0 0 0 0 15 118 92 10 4 1 0 0 21 30 21 13 35 41 13 8 11 112 1 0 2 3 2 4 116 118 44 0 7 4 0 0 1 118 118 20 10 0 0 0 29 21 30 27 118 61 1 1 14 36 1 2 36 19 0 8 46 +359.629 239.319 1.99714 1.55638 101 10 0 0 1 0 0 16 149 9 0 5 34 4 3 78 38 14 18 32 73 8 3 11 149 21 3 0 0 0 0 2 78 10 0 0 0 0 0 9 149 11 2 1 2 1 2 78 58 17 40 27 10 7 2 12 149 28 11 5 0 1 0 1 82 4 0 0 0 0 0 0 149 17 1 0 0 0 0 25 88 17 33 17 1 1 6 54 149 31 12 10 1 1 3 4 63 10 0 0 0 0 0 0 149 29 0 0 0 0 0 16 86 13 1 0 0 0 8 32 149 7 1 0 0 0 5 10 +199.854 248.149 2.18655 1.27251 32 3 0 0 78 48 0 0 134 11 0 0 0 0 0 1 114 9 0 0 0 0 0 0 134 52 0 0 0 0 0 0 49 6 0 0 48 32 0 2 134 5 0 0 0 0 0 16 134 25 0 0 0 0 0 3 134 97 0 0 0 0 0 0 40 29 0 0 16 10 0 0 134 26 0 0 0 0 0 7 134 62 0 0 0 0 0 2 134 96 0 0 2 0 0 0 35 31 0 0 2 1 0 0 134 28 0 0 0 0 0 13 134 84 0 0 0 0 0 3 89 55 0 0 7 3 0 0 +399.621 214.017 1.82313 -1.4954 0 0 1 21 131 2 1 0 44 17 5 5 29 3 5 20 55 7 0 36 94 0 0 8 0 0 0 54 131 0 0 0 1 0 1 27 131 0 0 0 38 20 5 8 42 1 2 20 79 19 4 44 61 0 0 17 0 4 13 120 131 0 0 0 1 0 0 26 131 2 0 0 47 3 1 11 60 5 10 26 131 45 11 36 29 0 0 26 4 8 41 131 115 1 0 1 1 0 0 24 131 0 0 0 29 1 3 24 64 4 1 11 131 2 0 4 20 5 6 69 8 0 1 23 114 30 7 10 +392.74 214.067 1.95891 -1.65336 2 0 0 0 129 24 0 0 25 12 4 2 60 10 1 12 63 28 4 20 62 0 0 7 0 2 8 44 129 0 0 0 1 0 0 4 129 28 0 0 76 10 1 11 63 11 6 19 129 59 13 35 73 1 0 9 0 2 53 104 129 6 0 0 0 0 0 3 129 34 0 0 86 5 2 13 49 13 1 9 129 4 0 2 62 26 27 46 0 0 5 10 129 87 8 1 0 0 2 2 129 22 0 0 22 14 10 6 25 7 2 4 25 5 0 0 18 69 68 21 0 0 0 0 28 129 32 0 +346.218 209.877 1.85873 -1.63164 0 0 0 0 142 31 1 0 2 2 0 1 68 22 30 20 1 1 0 14 110 19 13 7 0 0 0 9 86 8 0 0 0 0 0 0 142 33 0 0 20 3 0 1 104 29 22 21 52 9 8 67 74 4 6 19 0 0 0 55 134 5 0 0 0 0 0 0 142 40 0 0 53 13 0 4 126 22 3 5 116 17 0 6 97 28 1 8 0 0 0 11 142 27 0 0 0 0 0 2 142 24 0 0 48 7 0 7 77 6 0 4 59 6 0 0 94 21 1 7 0 0 0 0 114 40 0 0 +207.062 228.468 2.10132 1.3508 29 7 0 0 36 15 0 2 146 4 0 0 0 0 0 29 146 11 0 0 0 0 0 14 146 57 0 0 0 0 0 0 37 24 0 0 20 7 0 0 146 30 0 0 0 0 0 8 146 33 0 0 0 0 0 7 146 76 0 0 1 0 0 0 46 30 0 0 6 2 0 0 116 18 0 0 0 0 0 32 146 48 0 0 0 0 0 26 146 67 0 0 5 1 0 0 38 24 1 0 0 0 0 0 69 7 3 1 1 0 0 11 146 59 0 0 0 0 0 8 111 40 0 0 10 1 0 0 +405.502 200.628 1.85489 -1.55614 2 0 1 19 139 0 0 0 16 41 28 23 73 1 0 16 43 36 3 1 71 5 1 19 1 0 0 4 139 13 0 0 3 0 0 3 139 3 0 0 23 7 3 5 113 10 7 27 85 11 0 12 72 1 1 28 1 0 0 36 139 0 0 0 3 0 0 7 139 1 0 0 21 22 11 13 105 3 1 9 92 23 2 18 42 0 0 14 3 1 1 74 139 0 0 0 2 0 0 3 139 2 0 0 18 1 0 4 86 6 5 14 108 40 7 17 13 0 1 14 6 9 22 107 114 0 0 0 +317.8 204.186 1.82995 1.68624 130 0 0 0 0 0 0 29 37 0 0 0 24 15 2 27 137 0 0 0 3 2 1 64 139 0 0 0 2 0 0 36 139 1 0 0 0 0 0 12 65 5 1 14 44 2 0 6 139 11 0 4 11 1 0 38 139 0 0 0 1 0 0 42 139 3 0 0 0 0 0 15 96 14 8 35 34 1 0 3 116 30 2 13 13 1 0 29 139 2 0 0 0 0 0 48 139 6 0 0 0 0 0 2 92 7 0 2 58 6 0 2 72 3 0 1 28 6 0 28 139 1 0 0 0 0 0 35 +279.577 206.792 2.01326 -2.02649 13 14 0 0 34 63 0 0 0 0 0 0 115 123 4 0 16 43 6 8 37 33 1 0 5 31 4 4 79 64 0 0 3 3 0 0 114 123 0 0 22 2 0 0 64 123 42 10 104 45 0 1 36 47 12 13 4 8 0 1 123 123 0 0 0 0 0 0 123 123 1 0 46 3 0 1 29 52 10 13 77 3 0 0 30 123 29 24 0 1 9 7 81 122 2 0 0 0 0 4 73 103 2 0 12 0 0 1 6 18 7 8 9 24 6 0 18 79 10 5 2 35 55 43 12 13 0 0 +293.156 195.168 1.78384 1.52008 137 1 0 0 0 0 0 12 58 1 0 2 64 21 2 15 113 15 0 2 14 3 1 9 137 17 0 0 1 0 0 0 137 12 0 0 0 1 0 9 52 3 3 6 59 46 5 21 137 24 5 2 11 10 5 44 137 25 0 0 2 0 0 1 137 31 0 0 1 0 0 0 43 22 14 18 40 5 0 3 137 84 26 4 4 0 0 6 137 29 0 0 3 0 0 0 137 6 0 0 3 0 0 7 44 2 0 0 29 8 1 11 137 11 0 0 0 0 0 19 137 13 0 0 4 0 0 0 diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT b/ASIFT_tests/demo_ASIFT_src/test_ASIFT index 7863c24..e4aefce 100755 Binary files a/ASIFT_tests/demo_ASIFT_src/test_ASIFT and b/ASIFT_tests/demo_ASIFT_src/test_ASIFT differ diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp b/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp index fc777ff..e8362f3 100644 --- a/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp +++ b/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp @@ -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[] = { diff --git a/asift_match/reference_data/book_references.txt b/asift_match/reference_data/book_references.txt index 200ec7e..40b5165 100644 --- a/asift_match/reference_data/book_references.txt +++ b/asift_match/reference_data/book_references.txt @@ -1,5 +1,7 @@ 3 -30016 128 800 600 +30016 128 640 480 8 +1 +2098 561.609 32.3877 1.66396 -1.54859 102 0 0 0 0 0 8 47 183 0 0 0 0 0 0 29 70 0 0 0 0 2 1 9 0 0 0 0 2 7 1 0 172 0 0 0 0 0 0 21 183 3 0 0 0 0 0 20 90 0 0 0 0 3 5 16 0 0 0 0 2 9 6 0 183 14 0 0 0 0 0 3 183 31 0 0 0 0 0 2 78 3 0 0 0 2 5 8 0 0 0 0 0 10 6 0 154 19 0 0 0 0 0 0 183 34 0 0 0 0 0 1 46 3 0 0 0 2 2 4 0 0 0 0 0 4 1 0 490.736 32.6803 1.63896 -1.62143 57 16 0 0 0 0 0 0 197 34 0 0 0 0 0 0 134 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 97 7 0 0 0 0 0 4 197 32 0 0 0 0 0 0 147 9 0 0 0 0 0 0 0 0 0 0 0 1 0 0 107 1 0 0 0 0 0 5 197 8 0 0 0 0 0 6 141 2 0 0 0 0 0 1 0 0 0 0 1 0 0 0 87 2 0 0 0 0 0 6 197 16 0 0 0 0 0 1 107 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 543.401 33.1325 1.64938 -1.77931 26 1 0 11 45 60 36 40 174 45 0 0 0 1 7 78 49 28 1 6 0 0 0 5 0 0 0 7 1 3 4 0 74 6 0 16 114 85 13 22 174 20 0 0 3 1 2 68 108 3 1 4 0 1 0 10 0 0 1 13 3 2 0 0 129 9 0 0 5 60 24 15 174 44 0 0 0 0 0 2 104 6 0 0 1 2 2 4 0 0 0 1 2 5 2 0 169 26 0 0 0 0 5 32 174 90 0 0 0 0 0 0 43 10 0 0 0 0 3 2 0 0 0 0 2 7 3 0 @@ -2098,6 +2100,8 @@ 348.523 387.964 33.1544 -1.65744 0 0 0 1 7 0 0 0 14 15 5 29 124 2 0 0 97 124 28 6 16 0 2 32 39 58 90 0 0 0 4 42 0 0 0 1 13 1 0 0 35 31 7 28 124 12 0 3 124 124 50 5 7 0 12 62 32 98 124 0 0 0 28 54 0 0 0 0 18 8 0 0 34 6 0 0 103 54 5 25 84 19 7 9 3 2 87 124 35 5 3 2 0 0 124 124 0 0 5 16 17 5 0 0 56 23 46 51 68 29 1 4 73 43 37 53 18 1 7 10 86 6 8 23 7 0 8 52 124.373 141.711 61.8532 -0.957003 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 0 0 0 0 0 0 5 0 0 0 0 0 0 0 0 0 0 0 0 0 7 17 0 12 0 0 0 0 11 116 55 146 22 0 0 0 0 30 92 22 12 0 0 0 0 0 0 3 0 0 0 0 61 69 6 146 21 0 0 0 33 116 57 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0 0 4 10 7 25 150 17 0 0 1 2 9 23 67 3 0 0 59 8 0 2 0 0 0 0 63 14 0 0 441.446 244.855 1.67113 -1.59593 47 25 4 3 9 6 0 4 158 19 4 1 1 5 0 42 139 3 0 3 33 0 0 24 0 0 0 3 54 0 0 0 63 11 0 0 13 14 1 16 158 79 0 0 6 9 0 19 158 30 2 7 33 0 0 11 0 0 0 6 75 0 0 0 60 13 0 0 10 18 2 13 158 15 0 0 3 7 1 88 158 6 0 4 29 1 0 66 0 0 0 7 79 0 0 0 40 20 3 17 22 10 0 4 158 43 0 3 4 3 0 28 158 13 0 2 15 0 0 39 1 0 0 5 63 0 0 0 @@ -72708,6 +72996,7 @@ 183.204 290.2 2.13603 1.50331 6 1 0 29 62 1 0 0 159 6 0 4 7 0 0 0 159 4 0 0 0 0 0 0 64 2 0 0 5 0 0 0 13 3 0 19 92 5 0 0 159 20 0 3 16 0 0 0 159 9 0 0 0 0 0 0 82 2 0 0 8 0 0 0 18 8 2 51 88 4 0 0 159 6 0 7 16 0 0 1 159 4 0 0 0 0 0 0 81 2 0 0 8 0 0 0 15 2 0 18 88 17 0 2 159 6 0 3 21 1 0 0 159 3 0 0 0 0 0 0 63 1 0 0 6 0 0 0 196.175 229.597 2.071 1.51769 15 1 0 0 6 19 13 11 165 9 0 0 0 0 0 3 168 2 0 0 0 0 0 4 80 0 0 0 14 1 0 0 49 8 0 0 0 0 3 6 168 40 0 0 0 0 0 3 168 14 0 0 0 0 0 3 103 0 0 0 21 2 0 0 56 19 1 0 0 0 0 0 168 18 1 0 0 0 0 16 168 2 0 0 0 0 0 11 102 0 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148 56 0 0 0 0 0 45 111 8 0 0 51 17 0 22 0 0 0 0 77 30 0 0 80 115 4 3 7 1 0 3 148 40 1 1 5 1 0 14 83 9 0 0 47 16 0 5 0 0 0 0 59 26 0 0 414.5 314.967 1.60829 1.46493 0 0 0 13 158 46 0 0 43 13 0 0 70 42 0 2 80 50 8 13 5 0 0 4 66 32 6 12 11 6 0 3 0 0 0 7 158 42 0 0 85 5 0 0 63 23 0 18 156 19 2 7 18 2 0 30 42 9 1 6 36 23 3 8 0 0 0 17 158 11 0 0 88 17 0 2 60 3 0 5 157 48 7 12 7 2 0 11 21 8 3 9 58 9 0 1 0 0 0 44 158 0 0 0 97 46 1 11 51 0 0 0 123 88 15 37 12 0 0 0 2 3 9 31 65 3 0 0 @@ -72742,6 +73031,7 @@ 197.54 227.878 2.06994 1.50137 8 2 0 7 49 10 1 3 139 5 0 0 5 0 0 3 160 2 0 0 0 0 0 4 108 0 0 0 11 0 0 0 21 4 1 8 68 14 0 2 157 39 1 1 4 0 0 3 160 18 0 0 0 0 0 2 138 1 0 0 16 0 0 0 16 2 0 0 14 26 11 12 160 11 0 0 0 0 0 21 160 2 0 0 0 0 0 15 138 0 0 0 16 1 0 0 33 14 0 0 0 1 4 7 109 26 0 0 0 0 0 3 160 2 0 0 0 0 0 4 107 1 0 0 14 1 0 0 395.684 248.413 2.26358 1.645 41 2 0 92 122 0 0 4 122 8 2 26 28 0 0 26 6 4 14 70 54 0 0 0 104 11 10 4 2 0 0 1 22 2 0 122 122 0 0 2 122 12 2 35 37 1 0 24 31 2 4 65 102 15 0 2 122 0 1 4 26 12 2 13 12 4 2 122 122 0 0 0 122 21 5 49 54 11 3 17 24 0 3 8 103 67 4 8 122 15 7 6 23 8 0 3 14 0 0 74 99 0 0 1 36 8 5 67 72 2 0 7 9 3 8 17 47 8 0 2 77 12 9 8 2 0 0 0 295.783 247.137 2.25201 1.6457 49 15 2 0 0 0 0 0 142 4 0 5 22 0 0 13 32 0 0 33 140 0 0 4 142 0 0 2 14 0 0 33 52 16 3 1 0 0 0 0 142 4 0 6 10 0 0 11 46 3 1 69 142 0 0 3 142 4 2 18 25 0 0 41 33 19 5 7 8 2 0 2 142 18 0 1 5 1 0 8 39 5 1 43 114 3 0 3 142 6 3 23 26 1 0 19 27 18 6 25 36 1 0 0 142 55 0 2 5 0 0 0 19 10 1 13 102 8 0 0 142 0 0 2 36 7 0 11 +39 463.53 303.303 1.66371 -1.99879 87 62 1 0 4 1 0 1 156 80 0 0 0 0 0 13 82 13 0 0 39 22 0 5 0 0 0 0 51 41 0 0 129 85 1 0 2 1 3 13 156 53 0 0 1 1 0 28 81 11 0 0 60 46 0 5 0 0 0 0 64 59 0 0 58 81 14 8 25 39 12 21 156 15 0 0 9 13 6 54 55 3 0 0 71 60 0 3 0 0 0 0 62 60 0 0 92 15 1 1 27 146 34 25 156 46 0 0 8 19 7 22 21 2 0 0 60 56 0 0 0 0 0 0 46 50 0 0 415.367 335.775 1.67975 1.25286 6 18 0 2 115 99 0 0 40 69 4 4 45 22 0 4 115 40 4 9 64 13 2 20 27 25 1 10 115 11 0 0 18 10 0 0 115 97 2 2 42 15 0 0 37 88 9 28 115 11 0 2 42 26 13 115 42 41 4 10 71 17 3 6 4 2 23 40 115 35 1 1 57 36 2 3 65 51 2 4 115 115 7 12 17 5 1 15 22 39 8 13 42 13 0 1 0 0 5 23 115 94 0 0 111 31 0 1 37 36 0 3 115 49 7 7 14 11 1 6 11 16 6 4 52 22 0 1 457.584 280.154 1.65944 -1.9227 28 70 25 16 5 3 0 0 151 151 8 3 0 0 0 0 88 30 0 0 40 13 0 0 0 0 0 0 54 27 0 0 135 84 2 0 2 0 0 1 151 100 0 0 1 0 0 16 62 9 0 0 71 24 0 4 0 0 0 0 70 42 0 0 151 62 0 0 3 0 2 9 151 26 0 0 2 1 0 42 58 3 0 0 78 37 0 9 0 0 0 0 72 46 0 0 76 57 5 3 10 5 4 20 151 8 0 0 6 5 3 59 38 1 0 0 66 36 0 4 0 0 0 0 57 37 0 0 @@ -72781,6 +73071,7 @@ 276.664 197.695 2.11398 -1.61525 10 0 0 0 133 26 0 0 16 4 0 0 133 41 1 1 72 29 0 1 9 5 1 2 6 2 0 0 81 45 0 0 9 0 0 0 133 45 0 0 50 3 0 0 133 51 2 10 116 14 0 1 40 11 0 11 1 1 0 0 126 43 0 1 7 0 0 0 133 37 0 0 52 29 0 2 133 22 0 2 92 26 1 2 54 9 0 7 1 0 0 1 133 26 0 1 4 0 0 0 133 30 0 0 47 11 0 0 102 17 2 28 66 15 1 4 65 1 0 16 0 0 0 2 132 11 1 1 202.363 231.075 2.05866 1.48947 4 0 0 22 94 3 0 0 108 6 0 4 15 0 0 3 152 3 0 0 0 0 0 4 149 0 0 0 5 0 0 1 4 0 0 2 89 42 1 1 123 31 0 1 14 2 0 3 152 19 0 0 0 0 0 4 152 0 0 0 7 0 0 0 4 2 1 7 60 19 1 2 123 8 1 0 3 0 0 19 152 3 0 0 0 0 0 20 152 3 0 0 8 0 0 0 8 4 1 7 49 8 0 2 80 17 0 0 1 0 0 2 152 3 0 0 0 0 0 5 147 4 0 0 7 0 0 0 334.103 258.431 2.30731 1.57349 49 18 1 2 35 0 0 0 141 60 0 0 1 0 0 0 52 24 1 4 83 18 0 0 141 32 0 2 36 6 0 0 29 38 30 23 26 0 0 0 141 43 2 6 5 0 0 7 58 21 3 19 141 6 0 3 141 77 1 3 28 0 0 0 30 21 14 32 58 7 1 5 141 10 0 6 20 3 1 19 71 21 2 5 103 18 2 10 141 82 1 2 11 0 0 0 21 11 9 7 27 13 6 17 141 17 6 5 13 1 0 7 72 8 0 1 66 5 0 7 141 25 0 0 2 0 0 6 +38 409.802 329.669 1.61315 1.14089 0 23 2 0 112 112 0 0 105 103 5 1 14 14 0 4 112 100 21 46 75 6 2 12 11 25 6 41 93 2 0 0 9 80 5 2 71 81 0 0 111 36 5 5 22 20 1 52 112 16 0 6 77 32 20 112 19 45 5 15 87 15 1 0 12 50 2 0 45 65 0 0 112 75 0 0 19 44 1 13 107 87 2 5 30 9 1 17 11 48 9 9 24 4 2 2 15 11 0 0 31 65 1 0 112 112 5 6 6 9 0 0 41 54 9 37 33 6 0 1 9 5 2 3 7 6 5 7 429.57 300.171 1.61207 1.65602 2 2 0 10 89 17 0 0 123 12 0 0 6 1 0 29 127 0 0 0 23 18 7 86 10 2 0 2 60 33 3 9 5 1 0 82 127 1 0 2 119 9 0 2 6 0 0 29 127 12 1 8 22 2 0 27 18 1 1 21 79 4 2 9 1 0 0 127 127 0 0 1 127 13 1 25 19 0 0 10 127 19 0 3 18 3 0 16 9 4 3 20 92 4 1 6 4 0 0 127 117 0 0 0 79 3 1 82 54 0 0 9 127 9 1 5 5 0 0 29 12 5 2 27 52 2 0 2 454.776 277.728 1.66194 -1.96165 27 35 6 44 64 19 0 0 146 146 2 5 3 0 0 0 110 39 0 0 32 5 0 0 0 0 0 0 50 19 0 0 70 102 13 17 24 18 1 1 146 146 1 1 1 0 0 13 89 13 0 0 48 14 0 4 0 0 0 0 70 31 0 0 81 114 19 5 1 0 1 4 146 44 0 0 0 0 2 75 78 0 0 0 49 26 1 24 0 0 0 0 69 41 0 0 68 29 0 0 6 18 13 6 146 1 0 0 2 16 21 85 83 0 0 0 38 25 1 19 0 0 0 0 55 35 0 0 @@ -72819,6 +73110,7 @@ 326.02 211.207 1.83055 -1.69619 3 0 0 0 132 52 0 0 1 2 0 10 132 39 0 0 25 54 5 17 42 4 0 0 3 6 1 9 83 20 2 2 1 0 0 0 132 73 0 0 21 2 0 0 132 63 0 2 119 34 2 18 56 10 0 6 4 2 1 27 132 6 0 1 0 0 0 7 132 65 0 0 34 5 0 25 122 26 0 1 130 9 0 2 47 27 2 22 2 0 0 3 132 41 1 2 0 0 0 9 132 49 0 0 16 19 3 31 71 10 0 0 33 34 4 10 55 12 0 3 0 0 0 1 116 29 0 0 262.061 210.73 2.19377 -1.81418 15 5 0 0 75 44 0 0 9 10 0 0 122 100 0 2 78 39 0 0 17 8 0 3 13 6 0 0 109 50 0 0 8 2 0 0 122 97 0 0 27 1 0 0 122 104 5 33 119 8 0 0 35 22 1 24 8 0 0 0 122 81 0 0 3 0 0 0 122 114 0 0 72 8 0 0 98 57 1 11 116 9 0 0 52 52 4 19 1 0 0 0 101 67 0 0 1 0 0 0 122 62 0 0 52 9 0 0 45 13 0 2 31 1 0 0 35 60 8 10 0 0 0 0 33 40 0 0 202.901 229.321 2.07562 1.47241 10 10 3 31 15 0 0 0 140 14 0 0 0 0 0 3 148 2 0 0 0 0 0 3 148 2 0 0 4 0 0 0 5 7 3 48 51 0 0 0 144 39 0 1 0 0 0 6 148 14 0 0 0 0 0 4 148 4 0 0 6 0 0 0 2 1 1 26 92 4 0 0 133 7 0 2 3 0 0 25 148 7 0 0 0 0 0 17 148 10 0 0 8 0 0 0 1 3 0 2 53 25 0 0 90 12 1 0 1 0 0 5 148 13 0 0 0 0 0 5 129 15 0 0 8 0 0 0 +48 409.478 330.404 1.61568 0.855927 0 4 1 0 18 136 0 0 76 45 1 0 5 106 1 1 112 118 32 30 7 2 0 2 0 5 17 78 44 3 0 0 0 28 23 3 15 121 0 0 116 37 12 6 3 5 0 19 136 51 8 12 18 28 23 96 1 4 8 40 83 40 10 4 6 28 12 3 14 46 2 1 69 136 12 3 3 7 2 6 54 125 27 35 24 16 8 26 6 9 9 12 14 24 8 3 17 118 0 0 4 34 0 0 51 136 24 12 6 2 0 0 3 61 31 103 70 8 0 0 4 11 17 37 15 2 0 0 412.225 315.247 1.64151 1.55271 16 14 2 2 89 4 0 5 51 10 3 2 1 1 15 87 100 27 21 18 8 6 17 45 6 13 45 26 4 1 0 1 29 27 2 6 102 2 0 0 87 9 2 6 34 5 2 28 165 57 30 17 0 0 0 29 21 20 63 97 45 1 0 0 44 17 0 4 98 4 0 0 106 4 0 3 76 3 0 4 165 32 2 3 9 3 0 20 51 11 5 27 144 51 2 8 32 9 0 1 72 5 0 0 74 0 0 0 59 8 0 5 165 0 0 0 6 8 4 82 27 0 0 0 117 61 8 30 427.978 300.823 1.60842 1.63873 12 2 0 9 68 1 0 1 131 2 0 3 29 0 0 25 146 4 0 7 20 2 2 53 14 11 4 32 75 5 1 3 9 8 4 15 95 1 0 0 143 20 1 4 35 0 0 4 146 6 0 1 23 0 0 25 23 1 0 10 123 4 2 8 1 5 5 15 116 24 0 1 139 11 0 0 27 7 1 17 146 48 2 5 8 0 0 14 18 14 10 48 86 2 0 3 0 0 0 65 116 15 0 0 114 3 0 3 19 3 0 24 146 19 1 2 6 2 1 67 17 6 4 18 69 26 10 11 @@ -72867,6 +73159,7 @@ 274.598 216.418 1.91868 -1.75403 1 0 0 0 124 76 0 0 41 11 0 0 96 43 1 2 73 35 2 3 53 10 0 0 0 0 0 1 124 42 0 0 0 0 0 0 124 113 0 0 86 12 1 0 61 32 1 4 112 8 0 0 106 39 0 7 0 0 0 0 124 61 0 0 3 2 0 0 124 99 0 2 65 18 3 0 19 9 3 10 73 3 0 0 124 55 2 10 0 0 0 0 124 50 0 0 1 0 0 0 124 77 6 11 27 0 0 0 3 6 15 49 18 0 0 0 71 85 11 19 0 1 0 0 58 32 0 0 275.319 202.229 1.99331 -1.66434 11 1 0 0 120 28 0 0 10 2 0 0 130 56 4 4 66 10 0 1 23 5 3 8 3 0 0 1 130 16 0 0 8 0 0 0 130 43 0 0 31 5 0 0 130 48 1 4 112 28 1 4 48 4 0 3 2 2 0 3 130 27 0 0 4 0 0 0 130 55 0 0 40 6 0 0 130 42 1 4 127 3 0 0 65 13 0 19 2 0 0 0 130 35 0 0 2 0 0 0 130 45 0 0 21 10 1 0 78 19 2 7 68 3 0 0 49 15 3 17 1 0 0 0 130 29 0 0 204.078 228.249 2.09654 1.46181 39 15 0 1 6 0 0 0 150 8 0 0 0 0 0 9 150 2 0 0 0 0 0 6 150 5 0 0 4 0 0 0 45 25 1 4 2 0 0 0 150 36 0 0 0 0 0 5 150 17 0 0 0 0 0 3 150 16 0 0 7 0 0 0 31 23 2 11 2 0 0 0 150 10 0 0 0 0 0 33 150 25 0 0 0 0 0 15 150 27 0 0 9 0 0 0 9 13 3 22 11 0 0 0 109 10 0 0 0 0 0 11 150 26 0 0 0 0 0 7 100 22 0 1 10 0 0 0 +45 408.72 326.206 1.62819 1.44557 64 17 0 0 117 24 0 4 81 91 29 1 1 1 4 20 2 38 50 44 16 4 4 2 9 31 31 26 10 0 0 1 50 1 0 0 116 25 6 30 68 18 4 0 1 5 103 142 133 38 32 17 6 11 59 63 17 32 77 38 41 15 1 0 20 3 0 0 87 21 2 4 94 7 0 0 2 2 19 34 142 48 2 1 13 1 4 21 42 14 5 8 142 55 1 2 12 17 2 2 52 8 0 0 93 5 0 2 12 2 2 7 142 13 0 0 12 9 7 36 20 5 1 4 139 43 8 11 433.814 308.496 1.60432 1.59003 32 10 2 6 85 1 0 1 51 7 0 5 69 2 0 2 161 27 0 0 0 0 0 25 64 9 2 13 51 26 6 10 40 6 1 5 105 3 1 10 67 25 2 9 72 1 0 1 161 99 1 1 1 0 0 12 62 30 5 39 108 11 3 4 30 9 1 13 101 7 0 1 65 3 0 1 60 14 1 22 161 7 0 0 1 0 1 92 66 4 0 7 89 16 6 24 4 8 7 20 100 5 0 0 45 2 0 1 59 11 1 11 161 8 0 0 1 0 0 29 81 9 0 3 112 32 9 7 411.689 314.681 1.61471 1.45433 31 0 0 0 67 14 8 25 51 5 0 0 1 4 82 115 151 37 20 8 5 5 31 42 14 17 40 24 59 23 2 0 21 6 0 0 62 14 1 2 125 6 0 0 2 2 6 22 151 39 1 1 24 4 1 14 29 8 2 4 151 54 1 4 15 23 3 4 51 6 0 0 145 6 0 3 18 2 1 7 151 8 0 0 17 18 14 59 14 5 1 5 148 56 12 13 17 15 1 4 41 4 0 0 114 4 0 1 26 2 0 2 151 4 0 0 12 4 2 19 7 1 1 2 76 18 3 4 @@ -72912,6 +73205,7 @@ 276.739 214.434 1.96824 -1.86314 7 3 0 0 102 75 0 0 12 5 0 0 116 116 10 4 65 38 0 1 26 14 7 5 3 5 0 1 116 62 0 0 2 0 0 0 116 116 0 0 48 10 0 0 100 75 2 8 116 27 0 0 73 38 1 10 1 1 0 0 116 86 0 0 0 0 0 1 116 116 0 0 56 6 2 2 38 28 2 8 75 3 0 0 73 97 8 18 1 1 0 0 109 77 0 0 0 0 1 1 104 94 1 3 11 0 2 3 9 16 7 11 7 0 0 0 47 92 11 9 3 5 1 1 33 28 0 0 206.012 229.48 2.08921 1.42868 34 11 0 0 22 5 0 0 149 8 0 0 0 0 0 13 149 10 0 0 0 0 0 9 149 31 0 0 1 0 0 0 49 22 0 0 13 2 0 0 149 35 0 0 0 0 0 6 149 29 0 0 0 0 0 5 149 45 0 0 3 0 0 0 54 23 0 0 4 0 0 0 132 11 0 0 0 0 0 31 149 30 0 0 0 0 0 23 149 42 0 0 6 0 0 0 34 26 0 0 0 0 0 0 77 10 0 0 0 0 0 11 149 32 0 0 0 0 0 10 119 29 0 0 9 0 0 0 295.4 200.175 1.85255 1.62066 137 2 0 0 1 1 0 14 38 6 1 3 40 10 2 13 137 26 2 1 4 1 1 21 137 3 0 0 4 0 0 5 137 3 0 0 1 0 0 17 54 5 1 5 80 11 4 15 137 14 1 1 12 4 4 52 137 1 0 0 5 0 0 10 137 0 0 0 0 0 0 22 65 14 5 10 50 6 0 16 137 72 7 4 7 0 0 3 137 6 0 0 4 0 0 3 137 2 0 0 0 0 0 6 63 1 0 0 10 9 0 14 133 5 0 0 1 0 0 27 137 0 0 0 2 0 0 9 +38 409.77 319.954 1.64792 1.30163 40 37 0 0 116 55 0 0 61 133 15 0 4 3 9 6 109 80 14 1 2 4 7 2 59 31 26 17 87 16 0 0 79 16 0 0 81 46 12 17 77 29 2 0 0 17 133 59 133 37 2 0 2 12 61 50 61 19 0 3 133 75 14 8 31 4 0 0 38 29 7 7 102 17 0 0 1 18 31 14 133 36 0 0 7 9 12 25 20 1 2 3 68 80 14 9 12 6 0 0 16 10 1 1 129 26 0 0 3 4 1 2 133 36 0 0 16 7 0 0 7 1 4 4 57 30 13 1 452.588 298.277 1.66258 2.17136 28 0 0 8 5 0 0 54 79 1 2 9 0 0 0 144 77 97 37 24 0 0 0 44 20 77 6 8 8 0 0 0 8 0 0 32 15 0 0 13 116 3 0 2 0 0 0 144 144 27 0 0 0 0 0 90 33 8 0 2 19 1 0 1 4 5 5 57 16 0 0 2 144 56 1 21 10 0 0 11 144 111 0 0 0 0 0 5 20 5 0 0 16 4 0 0 1 4 3 92 23 2 0 0 144 128 6 14 10 1 0 0 144 83 0 0 0 0 2 5 4 0 0 0 5 6 3 2 425.018 302.862 1.66018 1.6316 17 3 0 5 33 2 1 5 120 0 0 3 8 2 0 31 154 1 0 2 19 2 0 59 11 1 8 25 83 9 2 4 32 16 3 17 54 0 0 0 131 3 0 13 24 0 0 13 154 14 0 7 10 2 0 39 30 3 8 41 63 28 9 2 47 10 1 12 75 0 0 0 129 13 0 6 49 0 0 2 154 47 0 2 17 3 0 16 23 4 0 12 154 78 16 2 35 4 0 8 65 0 0 1 86 5 1 5 35 0 0 9 154 2 0 1 14 0 0 58 25 0 0 16 154 4 0 6 diff --git a/asift_match/src/ASIFT_matcher.cpp b/asift_match/src/ASIFT_matcher.cpp index 5012b89..42f52be 100644 --- a/asift_match/src/ASIFT_matcher.cpp +++ b/asift_match/src/ASIFT_matcher.cpp @@ -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& 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& 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& 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& 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..."< > 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& 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& 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& 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& 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 >& 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 > _size_refs; //Width/Height vector _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 }; diff --git a/asift_match/src/ROS_matcher.cpp b/asift_match/src/ROS_matcher.cpp index 89a0ec4..5bb336c 100644 --- a/asift_match/src/ROS_matcher.cpp +++ b/asift_match/src/ROS_matcher.cpp @@ -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) diff --git a/rviz_interface/rviz_interface/src/InteractiveObject.cpp b/rviz_interface/rviz_interface/src/InteractiveObject.cpp index f846245..da84b47 100644 --- a/rviz_interface/rviz_interface/src/InteractiveObject.cpp +++ b/rviz_interface/rviz_interface/src/InteractiveObject.cpp @@ -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; diff --git a/rviz_interface/rviz_interface/src/InteractiveObject.hpp b/rviz_interface/rviz_interface/src/InteractiveObject.hpp index fa23966..cd9b4dc 100644 --- a/rviz_interface/rviz_interface/src/InteractiveObject.hpp +++ b/rviz_interface/rviz_interface/src/InteractiveObject.hpp @@ -1,3 +1,9 @@ +/* + * Rviz interactive object. + * @author : antoine.harle@etu.upmc.Fr + * @see : RvizInterface.cpp/.hpp + */ + #ifndef INTERACTIVEOBJECT_HPP #define INTERACTIVEOBJECT_HPP diff --git a/rviz_interface/rviz_interface/src/InterfacePanel.cpp b/rviz_interface/rviz_interface/src/InterfacePanel.cpp index fd1e2f3..e35cb88 100644 --- a/rviz_interface/rviz_interface/src/InterfacePanel.cpp +++ b/rviz_interface/rviz_interface/src/InterfacePanel.cpp @@ -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( "/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. diff --git a/rviz_interface/rviz_interface/src/InterfacePanel.hpp b/rviz_interface/rviz_interface/src/InterfacePanel.hpp index 9a5b91f..556e773 100644 --- a/rviz_interface/rviz_interface/src/InterfacePanel.hpp +++ b/rviz_interface/rviz_interface/src/InterfacePanel.hpp @@ -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 diff --git a/rviz_interface/rviz_interface/src/RvizInterface.cpp b/rviz_interface/rviz_interface/src/RvizInterface.cpp index 3fa3b6f..16dad51 100644 --- a/rviz_interface/rviz_interface/src/RvizInterface.cpp +++ b/rviz_interface/rviz_interface/src/RvizInterface.cpp @@ -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 diff --git a/rviz_interface/rviz_interface/src/RvizInterface.hpp b/rviz_interface/rviz_interface/src/RvizInterface.hpp index 73741b6..bb12bc1 100644 --- a/rviz_interface/rviz_interface/src/RvizInterface.hpp +++ b/rviz_interface/rviz_interface/src/RvizInterface.hpp @@ -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); };