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Unknown 2018-08-08 16:13:45 +02:00
parent 1cd55aba7a
commit 6b4be0fecb
17 changed files with 73897 additions and 43726 deletions
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300
asift_match/reference_data/book_references.txt
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119
asift_match/src/ASIFT_matcher.cpp
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@ -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;
// }
}

55
asift_match/src/ASIFT_matcher.hpp
View file

@ -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
};

7
asift_match/src/ROS_matcher.cpp
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@ -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)