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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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