Resolution bug Save/load references : multiple refs

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -528,7 +528,8 @@ bool ASIFT_matcher::distFilter(int threshold=2)
 	return false;
 }
 
-//A tester
+//Save reference data necessary for the matching
+//Doesn't save references images or Sift parameters
 bool ASIFT_matcher::saveReferences(const char* ref_path) const
 {
 	// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
@@ -543,7 +544,7 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 			// the first line contains the number of keypoints and the length of the desciptors (128) 
 			// Added number of tilts
 			// Added sizes
-			file_key1 << _num_keys[j] << " " << VecLength << " " << _num_tilts[j] << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl;
+			file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl; //<<_num_tilts[j] << " "
 			for (int tt = 0; tt < (int) kps.size(); tt++)
 			{
 				for (int rr = 0; rr < (int) kps[tt].size(); rr++)
@@ -562,7 +563,7 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 					}
 				}	
 			}
-			file_key1<<std::endl;
+			// file_key1<<std::endl;
 		}
 	}
 	else 
@@ -575,7 +576,9 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 	return true;
 }
 
-//A finir
+//Load reference data necessary for the matching 
+//Doesn't load references images or Sift parameters
+//TODO : split data between different tilts
 bool ASIFT_matcher::loadReferences(const char* ref_path)
 {
 	std::ifstream ref_file(ref_path);
@@ -605,10 +608,10 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 			if(VecLength!=atoi(tmp.c_str()))
 			{
 				std::cout<<"Error VecLength doesn't correspond..."<<std::endl;
-				return false;
+				// return false;
 			}
 
-			std::getline(iss,tmp,' ');
+			// std::getline(iss,tmp,' ');
 			// _num_tilts[i]=atoi(tmp.c_str());
 
 			std::getline(iss,tmp,' ');
@@ -663,6 +666,7 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 			std::vector< keypointslist > vkps(1,list);
 			asift_keypoints akps(1,vkps);
 			_keys[i]=akps;
+			// std::getline(ref_file, line);
 		}
 	}
 	else 

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache

@@ -66,10 +66,6 @@ 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
 -
@@ -322,6 +318,10 @@ string.h
 vector
 -
 
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
+ASIFT_matcher.hpp
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
+
 /usr/include/opencv/cv.h
 opencv2/core/core_c.h
 /usr/include/opencv/opencv2/core/core_c.h

ASIFT_tests/demo_ASIFT_src/results/matching.txt

@@ -1,21 +1,35 @@
-23  1
+39  2
 0
-315.018  155.736  260.177  249.244
+362.208  184.382  279.082  122.315
-223.913  244.816  2.56948e-38  1.12989e-38
+335.039  109.815  103.199  302.382
-231.964  208.605  -5.21643e-18  -3.21371e-18
+368.527  140.516  2.28707e-06  2.7439e-06
-309.751  165.122  1.33215e-38  1.11233e-38
+329.485  112.667  5.27024e-39  1.418e-38
-321.857  118.766  0  0
+322.959  119.184  0  0
-230.253  240.932  0  0
+324.178  230.519  0  0
-214.152  233.929  9.88742e-41  5.02646e-41
+355.697  190.284  1.07784e-35  4.42979e-36
-226.483  216.543  0  0
+315.991  235.875  0  0
-333.71  128.226  -1.75948e-18  -2.95041e-18
+230.152  191.051  2.67878e-35  1.98276e-35
-232.541  217.373  2.21343e-38  1.2881e-38
+223.012  231.746  0  0
-218.692  222.244  -5.68496e-18  -3.2052e-18
+377.929  162.983  1.15745e-34  7.48296e-35
-320.409  248.492  2.14415e-38  4.56393e-39
+341.004  112.32  0  0
-312.409  253.913  6.79367e-35  1.35834e-35
+322.192  279.122  3.15062e-35  3.2204e-36
-300.715  265.302  0  0
+361.771  216.725  0  0
-310.975  163.84  3.91747e-41  3.31785e-41
+218.599  221.752  2.92356e-34  1.64035e-34
-287.05  158.348  0  0
+261.936  171.287  0  0
-236.559  230.379  7.13971e-35  3.4433e-35
+300.647  157.174  0  0
-360.468  133.533  0  0
+310.273  236.617  0  0
-321.857  118.766  -1.60778e-18  -3.41162e-18
+363.462  146.017  0  0
+277.903  162.656  6438.94  5981.52
+361.959  175.732  42997.8  23137
+374.229  132.773  0  0
+221.354  204.377  0  0
+218.849  212.966  0  0
+367.28  179.248  0  0
+291.509  169.803  0  0
+343.099  119.621  0  0
+231.499  206.978  9506.8  5965.8
+371.585  152.449  13102.5  11096.8
+307.57  255.971  1473.99  304.215
+317.773  232.706  0  0
+294.302  268.305  0  0
+1

ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -137,7 +137,7 @@ int main(int argc, char **argv)
 		zoom1 = 1;
 	}
 
-	unsigned int nb_ref =1;
+	unsigned int nb_ref =2;
 	std::string refData[] = {
       "book_training/train_image_000.png", 
       "book_training/train_image_001.png",