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parent 1cd55aba7a
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117
ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp
View file

@ -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" #include "ASIFT_matcher.hpp"
//Default constructor
ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true) ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
{ {
default_sift_parameters(_siftParam); 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() ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
{ {
if(!loadReferences(ref_path)) 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) bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
{ {
///// Read input ///// 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); 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) bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
{ {
if(image.size()!=w*h) if(image.size()!=w*h)
@ -180,7 +206,12 @@ bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, uns
return true; 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) unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
{ {
if(_nb_refs<=0) 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); 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) unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
{ {
if(image.size()!=w*h) 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 _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 bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
{ {
if(getNbMatch()==0) 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;
} }
//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 bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
{ {
if(getNbMatch()==0) if(getNbMatch()==0)
@ -437,11 +488,13 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
return true; return true;
} }
//Filter keypoint which are far (Euclidian distance) from the center. /*
//Not optimized * Perform a standard deviation filtering on the matching keypoints.
//threshold : 1-68%/2-95%/3-99% * Match function must have been called before and found at least one matching keypoint.
//Return true if successfull * threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
bool ASIFT_matcher::distFilter(int threshold=2) * Return true if the filtering is done.
*/
bool ASIFT_matcher::distFilter(int threshold)
{ {
if(_showInfo) if(_showInfo)
cout<<"filtering keypoint..."<<endl; cout<<"filtering keypoint..."<<endl;
@ -520,8 +573,16 @@ bool ASIFT_matcher::distFilter(int threshold=2)
return false; 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 bool ASIFT_matcher::saveReferences(const char* ref_path) const
{ {
// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers)) // 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; 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) bool ASIFT_matcher::loadReferences(const char* ref_path)
{ {
std::ifstream ref_file(ref_path); std::ifstream ref_file(ref_path);
@ -838,6 +907,10 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
// return true; // return true;
// } // }
/*
* Assignation operator.
* m : ASIFT matcher object to copy.
*/
ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m) ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
{ {
@ -862,7 +935,7 @@ ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
return *this; return *this;
} }
//Debugging function //Debugging function : print content form the ASIFT matcher.
void ASIFT_matcher::print() const void ASIFT_matcher::print() const
{ {
for(unsigned int i=0; i< _keys.size();i++) for(unsigned int i=0; i< _keys.size();i++)
@ -892,13 +965,3 @@ 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_tests/demo_ASIFT_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 #ifndef ASIFTMATCHER_HPP
#define ASIFTMATCHER_HPP #define ASIFTMATCHER_HPP
@ -30,28 +41,28 @@ using namespace std;
typedef vector< vector< keypointslist > > asift_keypoints; typedef vector< vector< keypointslist > > asift_keypoints;
//ASIFT wrapper
class ASIFT_matcher class ASIFT_matcher
{ {
public: public:
ASIFT_matcher(); ASIFT_matcher();//Default constructor.
ASIFT_matcher(const char* ref_path); ASIFT_matcher(const char* ref_path); //Constuctor from keypoints references (.txt).
ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} //Copy constructor.
// virtual ~ASIFT_matcher(); // virtual ~ASIFT_matcher();
bool addReference(const char* image_path, unsigned int num_tilts=1); 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); 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); 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); 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 keypoints 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; bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
bool distFilter(int threshold); //Filter keypoint which are far (Euclidian distance) from the center. bool distFilter(int threshold =2); //Perform a standard deviation filtering on the matching keypoints.
bool saveReferences(const char* ref_path) const; bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
bool loadReferences(const char* ref_path); 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;} unsigned int getNbRef() const{ return _nb_refs;}
const vector< vector< float > >& getRefImgs() const{ return _im_refs;} const vector< vector< float > >& getRefImgs() const{ return _im_refs;}
const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;} const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;}
@ -72,31 +83,31 @@ public:
bool isShowingInfo() const{ return _showInfo;} bool isShowingInfo() const{ return _showInfo;}
void showInfo(bool showInfo){ _showInfo=showInfo;} void showInfo(bool showInfo){ _showInfo=showInfo;}
void print() const; //Debugging function void print() const; //Debugging function : print content form the ASIFT matcher.
protected: protected:
//Reference Images //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< vector< float > > _im_refs; //Reference images used for matching
vector< pair<int,int> > _size_refs; //Width/Height vector< pair<int,int> > _size_refs; //Width/Height
vector<float> _zoom_refs; //Zoom coeffs vector<float> _zoom_refs; //Zoom coeffs
//ASIFT Keypoints //Reference ASIFT Keypoints
vector< int > _num_keys; //Number of keypoint/reference vector< int > _num_keys; //Number of keypoint/reference
vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision) vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision)
vector< asift_keypoints > _keys; //Keypoints vector< asift_keypoints > _keys; //Reference keypoints
//Matchs //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 < unsigned int > _num_matchings; //Number of match/reference
vector< matchingslist > _matchings; //Matchs vector< matchingslist > _matchings; //Matching keypoints
siftPar _siftParam; //SIFT parameters siftPar _siftParam; //SIFT parameters
//Flags //Flags
bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ? bool _resize_imgs;//Resize images to IM_X/IM_Y ?
bool _showDebug;// = 0; //Show debugging messages ? bool _showDebug;//Show debugging messages ?
bool _showInfo; //Show info messages bool _showInfo; //Show info messages
}; };

4
ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache
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@ -66,6 +66,10 @@ unixio.h
zconf.h zconf.h
./io_png/libs/zlib/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 /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
stdio.h stdio.h
- -

434
ASIFT_tests/demo_ASIFT_src/results/matching.txt
View file

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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

116288
ASIFT_tests/demo_ASIFT_src/results/references.txt
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ASIFT_tests/demo_ASIFT_src/test_ASIFT
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98
ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
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@ -137,59 +137,59 @@ int main(int argc, char **argv)
zoom1 = 1; zoom1 = 1;
} }
// unsigned int nb_ref =3; 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;
std::string refData[] = { std::string refData[] = {
// "robobo_references/0.jpg", "book_training/train_image_000.png",
// "robobo_references/1.jpg", "book_training/train_image_001.png",
// "robobo_references/2.jpg", "book_training/000.png",
// "robobo_references/3.jpg", "book_training/train_image_003.png"};
// "robobo_references/4.jpg",
// "robobo_references/5.jpg",
// "robobo_references/6.jpg",
"robobo_references/000.jpg", // unsigned int nb_ref =7;
"robobo_references/001.jpg", // std::string refData[] = {
"robobo_references/002.jpg", // // "robobo_references/0.jpg",
"robobo_references/003.jpg", // // "robobo_references/1.jpg",
"robobo_references/004.jpg", // // "robobo_references/2.jpg",
"robobo_references/005.jpg", // // "robobo_references/3.jpg",
"robobo_references/006.jpg", // // "robobo_references/4.jpg",
// // "robobo_references/5.jpg",
// // "robobo_references/6.jpg",
"robobo_references/000_2.jpg", // "robobo_references/000.jpg",
"robobo_references/001_2.jpg", // "robobo_references/001.jpg",
"robobo_references/002_2.jpg", // "robobo_references/002.jpg",
"robobo_references/003_2.jpg", // "robobo_references/003.jpg",
"robobo_references/004_2.jpg", // "robobo_references/004.jpg",
"robobo_references/005_2.jpg", // "robobo_references/005.jpg",
"robobo_references/006_2.jpg", // "robobo_references/006.jpg",
"robobo_references/007_2.jpg",
"robobo_references/000.png", // "robobo_references/000_2.jpg",
"robobo_references/001.png", // "robobo_references/001_2.jpg",
"robobo_references/002.png", // "robobo_references/002_2.jpg",
"robobo_references/003.png", // "robobo_references/003_2.jpg",
"robobo_references/004.png", // "robobo_references/004_2.jpg",
"robobo_references/005.png", // "robobo_references/005_2.jpg",
"robobo_references/006.png", // "robobo_references/006_2.jpg",
"robobo_references/000_a.png", // "robobo_references/007_2.jpg",
"robobo_references/001_a.png",
"robobo_references/002_a.png", // "robobo_references/000.png",
"robobo_references/003_a.png", // "robobo_references/001.png",
"robobo_references/004_a.png", // "robobo_references/002.png",
"robobo_references/006_a.png", // "robobo_references/003.png",
"robobo_references/000_2.png", // "robobo_references/004.png",
"robobo_references/001_2.png", // "robobo_references/005.png",
"robobo_references/002_2.png", // "robobo_references/006.png",
"robobo_references/003_2.png", // "robobo_references/000_a.png",
"robobo_references/004_2.png", // "robobo_references/001_a.png",
"robobo_references/006_2.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; // unsigned int nb_ref =21;
// std::string refData[] = { // std::string refData[] = {

300
asift_match/reference_data/book_references.txt
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117
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" #include "ASIFT_matcher.hpp"
//Default constructor
ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true) ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
{ {
default_sift_parameters(_siftParam); 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() ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
{ {
if(!loadReferences(ref_path)) 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) bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
{ {
///// Read input ///// 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); 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) bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
{ {
if(image.size()!=w*h) if(image.size()!=w*h)
@ -180,7 +206,12 @@ bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, uns
return true; 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) unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
{ {
if(_nb_refs<=0) 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); 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) unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
{ {
if(image.size()!=w*h) 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 _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 bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
{ {
if(getNbMatch()==0) 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;
} }
//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 bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
{ {
if(getNbMatch()==0) if(getNbMatch()==0)
@ -437,11 +488,13 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
return true; return true;
} }
//Filter keypoint which are far (Euclidian distance) from the center. /*
//Not optimized * Perform a standard deviation filtering on the matching keypoints.
//threshold : 1-68%/2-95%/3-99% * Match function must have been called before and found at least one matching keypoint.
//Return true if successfull * threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
bool ASIFT_matcher::distFilter(int threshold=2) * Return true if the filtering is done.
*/
bool ASIFT_matcher::distFilter(int threshold)
{ {
if(_showInfo) if(_showInfo)
cout<<"filtering keypoint..."<<endl; cout<<"filtering keypoint..."<<endl;
@ -520,8 +573,16 @@ bool ASIFT_matcher::distFilter(int threshold=2)
return false; 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 bool ASIFT_matcher::saveReferences(const char* ref_path) const
{ {
// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers)) // 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; 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) bool ASIFT_matcher::loadReferences(const char* ref_path)
{ {
std::ifstream ref_file(ref_path); std::ifstream ref_file(ref_path);
@ -838,6 +907,10 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
// return true; // return true;
// } // }
/*
* Assignation operator.
* m : ASIFT matcher object to copy.
*/
ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m) ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
{ {
@ -862,7 +935,7 @@ ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
return *this; return *this;
} }
//Debugging function //Debugging function : print content form the ASIFT matcher.
void ASIFT_matcher::print() const void ASIFT_matcher::print() const
{ {
for(unsigned int i=0; i< _keys.size();i++) for(unsigned int i=0; i< _keys.size();i++)
@ -892,13 +965,3 @@ 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 #ifndef ASIFTMATCHER_HPP
#define ASIFTMATCHER_HPP #define ASIFTMATCHER_HPP
@ -30,28 +41,28 @@ using namespace std;
typedef vector< vector< keypointslist > > asift_keypoints; typedef vector< vector< keypointslist > > asift_keypoints;
//ASIFT wrapper
class ASIFT_matcher class ASIFT_matcher
{ {
public: public:
ASIFT_matcher(); ASIFT_matcher();//Default constructor.
ASIFT_matcher(const char* ref_path); ASIFT_matcher(const char* ref_path); //Constuctor from keypoints references (.txt).
ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} //Copy constructor.
// virtual ~ASIFT_matcher(); // virtual ~ASIFT_matcher();
bool addReference(const char* image_path, unsigned int num_tilts=1); 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); 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); 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); 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 keypoints 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; bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
bool distFilter(int threshold); //Filter keypoint which are far (Euclidian distance) from the center. bool distFilter(int threshold =2); //Perform a standard deviation filtering on the matching keypoints.
bool saveReferences(const char* ref_path) const; bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
bool loadReferences(const char* ref_path); 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;} unsigned int getNbRef() const{ return _nb_refs;}
const vector< vector< float > >& getRefImgs() const{ return _im_refs;} const vector< vector< float > >& getRefImgs() const{ return _im_refs;}
const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;} const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;}
@ -72,31 +83,31 @@ public:
bool isShowingInfo() const{ return _showInfo;} bool isShowingInfo() const{ return _showInfo;}
void showInfo(bool showInfo){ _showInfo=showInfo;} void showInfo(bool showInfo){ _showInfo=showInfo;}
void print() const; //Debugging function void print() const; //Debugging function : print content form the ASIFT matcher.
protected: protected:
//Reference Images //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< vector< float > > _im_refs; //Reference images used for matching
vector< pair<int,int> > _size_refs; //Width/Height vector< pair<int,int> > _size_refs; //Width/Height
vector<float> _zoom_refs; //Zoom coeffs vector<float> _zoom_refs; //Zoom coeffs
//ASIFT Keypoints //Reference ASIFT Keypoints
vector< int > _num_keys; //Number of keypoint/reference vector< int > _num_keys; //Number of keypoint/reference
vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision) vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision)
vector< asift_keypoints > _keys; //Keypoints vector< asift_keypoints > _keys; //Reference keypoints
//Matchs //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 < unsigned int > _num_matchings; //Number of match/reference
vector< matchingslist > _matchings; //Matchs vector< matchingslist > _matchings; //Matching keypoints
siftPar _siftParam; //SIFT parameters siftPar _siftParam; //SIFT parameters
//Flags //Flags
bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ? bool _resize_imgs;//Resize images to IM_X/IM_Y ?
bool _showDebug;// = 0; //Show debugging messages ? bool _showDebug;//Show debugging messages ?
bool _showInfo; //Show info messages bool _showInfo; //Show info messages
}; };

7
asift_match/src/ROS_matcher.cpp
View file

@ -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" #include "ROS_matcher.hpp"
ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT) ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)

6
rviz_interface/rviz_interface/src/InteractiveObject.cpp
View file

@ -1,3 +1,9 @@
/*
* Rviz interactive object.
* @author : antoine.harle@etu.upmc.Fr
* @see : RvizInterface.cpp/.hpp
*/
#include "InteractiveObject.hpp" #include "InteractiveObject.hpp"
unsigned int InteractiveObject::nextObjectID = 1; unsigned int InteractiveObject::nextObjectID = 1;

6
rviz_interface/rviz_interface/src/InteractiveObject.hpp
View file

@ -1,3 +1,9 @@
/*
* Rviz interactive object.
* @author : antoine.harle@etu.upmc.Fr
* @see : RvizInterface.cpp/.hpp
*/
#ifndef INTERACTIVEOBJECT_HPP #ifndef INTERACTIVEOBJECT_HPP
#define INTERACTIVEOBJECT_HPP #define INTERACTIVEOBJECT_HPP

60
rviz_interface/rviz_interface/src/InterfacePanel.cpp
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@ -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" #include "InterfacePanel.hpp"
namespace rviz_interface 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 ) 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; QHBoxLayout* error_layout = new QHBoxLayout;
error_layout->addWidget( new QLabel( "Max Error:" )); error_layout->addWidget( new QLabel( "Max Error:" ));
_max_error_editor = new QLineEdit; _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 ); error_layout->addWidget( _max_error_editor );
//setLayout( error_layout );
// Then create the control widget.
// drive_widget_ = new DriveWidget;
// Lay out the topic field above the control widget.
QVBoxLayout* layout = new QVBoxLayout; QVBoxLayout* layout = new QVBoxLayout;
_objective_type_editor = new QCheckBox( "Precise Objective" ); _objective_type_editor = new QCheckBox( "Precise Objective" );
_show_visuals_editor = new QCheckBox( "Show Visuals" ); _show_visuals_editor = new QCheckBox( "Show Visuals" );
@ -41,29 +27,14 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
layout->addWidget( _show_visuals_editor ); layout->addWidget( _show_visuals_editor );
setLayout( layout ); 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. // Next we make signal/slot connections.
connect( _max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() )); connect( _max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
connect( _objective_type_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateType(int) )); connect( _objective_type_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateType(int) ));
connect(_reset_button, SIGNAL (released()), this, SLOT (handleResetButton())); connect(_reset_button, SIGNAL (released()), this, SLOT (handleResetButton()));
connect( _show_visuals_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateVisuals(int) )); connect( _show_visuals_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateVisuals(int) ));
// connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
// Start the timer. //Error editor disabled by default
// output_timer->start( 100 );
// Make the control widget start disabled, since we don't start with an output topic.
// drive_widget_->setEnabled( false );
_max_error_editor->setEnabled( false ); _max_error_editor->setEnabled( false );
_config_publisher = _nh.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 ); _config_publisher = _nh.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
@ -75,10 +46,7 @@ InterfacePanel::~InterfacePanel()
delete _objective_type_editor; delete _objective_type_editor;
} }
// Read the topic name from the QLineEdit and call setTopic() with the //Update the error in the current_configuration & publish the configuration.
// results. This is connected to QLineEdit::editingFinished() which
// fires when the user presses Enter or Tab or otherwise moves focus
// away.
void InterfacePanel::updateError() void InterfacePanel::updateError()
{ {
current_config.max_error = _max_error_editor->text().toDouble(); 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) void InterfacePanel::updateType(int state)
{ {
current_config.objective_type = 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) void InterfacePanel::updateVisuals(int state)
{ {
current_config.show_visuals = 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() void InterfacePanel::handleResetButton()
{ {
current_config.follow_object = true; current_config.follow_object = true;
@ -126,15 +97,6 @@ void InterfacePanel::handleResetButton()
current_config.follow_object = false; 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 // Save all configuration data from this panel to the given
// Config object. It is important here that you call save() // Config object. It is important here that you call save()
// on the parent class so the class id and panel name get saved. // on the parent class so the class id and panel name get saved.

51
rviz_interface/rviz_interface/src/InterfacePanel.hpp
View file

@ -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 #ifndef INTERFACE_PANEL_HPP
#define INTERFACE_PANEL_HPP #define INTERFACE_PANEL_HPP
@ -27,24 +33,13 @@ class QLineEdit;
namespace rviz_interface 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 class InterfacePanel: public rviz::Panel
{ {
// This class uses Qt slots and is a subclass of QObject, so it needs // This class uses Qt slots and is a subclass of QObject, so it needs
// the Q_OBJECT macro. // the Q_OBJECT macro.
Q_OBJECT Q_OBJECT
public: 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( QWidget* parent = 0 );
~InterfacePanel(); ~InterfacePanel();
@ -57,42 +52,30 @@ public:
// Next come a couple of public Qt slots. // Next come a couple of public Qt slots.
public Q_SLOTS: public Q_SLOTS:
// void setError( const QString& error );
// Here we declare some internal slots. // Here we declare some internal slots.
protected Q_SLOTS: protected Q_SLOTS:
void updateError(); void updateError(); //Update the error in the current_configuration & publish the configuration.
void updateType(int state); void updateType(int state); //Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
void updateVisuals(int state); void updateVisuals(int state); //Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
void handleResetButton(); 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: 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; //Line editor used to let user cusomize the maximum error allowed.
QLineEdit* _max_error_editor; QCheckBox* _objective_type_editor; //CheckBox used to modify the objective type.
QCheckBox* _objective_type_editor; QCheckBox* _show_visuals_editor; //CheckBox used to choose if the error area should be shown.
QCheckBox* _show_visuals_editor; QPushButton* _reset_button; //Button to reattach a marker to it's linked object.
QPushButton* _reset_button;
// The current name of the output topic. //Publisher
// QString _max_error;
// The ROS publisher for the command velocity.
ros::Publisher _config_publisher; ros::Publisher _config_publisher;
// The ROS node handle. // The ROS node handle.
ros::NodeHandle _nh; ros::NodeHandle _nh;
// The latest velocity values from the drive widget.
// float linear_velocity_;
// float angular_velocity_;
// END_TUTORIAL
}; };
} // end namespace rviz_plugin_tutorials } // end namespace rviz_plugin_tutorials

9
rviz_interface/rviz_interface/src/RvizInterface.cpp
View file

@ -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" #include "RvizInterface.hpp"
//Constructeur //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) void RvizInterface::positionCallback(const rviz_interface::NamedPoint & new_center)
{ {
for(unsigned int i=0;i<_objects.size();i++) 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) int main(int argc, char **argv)
{ {
//Initiate ROS //Initiate ROS

10
rviz_interface/rviz_interface/src/RvizInterface.hpp
View file

@ -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 #ifndef RVIZINTERFACE_HPP
#define RVIZINTERFACE_HPP #define RVIZINTERFACE_HPP
@ -38,8 +45,7 @@ public:
//Fonction Callback du panel Rviz gérant les configurations //Fonction Callback du panel Rviz gérant les configurations
void configCallback(const rviz_interface::InterfaceConfig & new_config); void configCallback(const rviz_interface::InterfaceConfig & new_config);
//Fonction callback gérant la position de l'objet //Fonction callback gérant la position des objets
//PROVISOIRE : Pour un seul objet avec test PCL
void positionCallback(const rviz_interface::NamedPoint & new_center); void positionCallback(const rviz_interface::NamedPoint & new_center);
}; };