Ajout sortie match.txt

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -1,6 +1,6 @@
 #include "ASIFT_matcher.hpp"
 
-ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _resize_imgs(false), _showDebug(false)
+ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false)
 {
 	default_sift_parameters(_siftParam);
 }
@@ -127,13 +127,13 @@ bool ASIFT_matcher::addReference(const char* image, unsigned int num_tilts)
 	return true;
 }
 
-//Return true if successfull
-bool ASIFT_matcher::match(const char* image, unsigned int num_tilts)
+//Return number of match
+unsigned int ASIFT_matcher::match(const char* image, unsigned int num_tilts)
 {
 	if(_nb_refs<=0)
 	{
 		cout<<"ASIFT_matcher Error : Trying to match without reference"<<endl;
-		return false;
+		return 0;
 	}
 
 	///// Read input
@@ -229,11 +229,11 @@ bool ASIFT_matcher::match(const char* image, unsigned int num_tilts)
 	cout<<"	"<< num_keys <<" ASIFT keypoints found in "<< image << endl;
 
 	//// Match ASIFT keypoints
-
-	int num_matchings = 0;
+	_total_num_matchings=0;
 
 	for(unsigned int i = 0; i<_nb_refs;i++)
 	{
+		int num_matchings = 0;
 		matchingslist matchings;
 
 		cout << "Matching the keypoints..." << endl;
@@ -253,19 +253,20 @@ bool ASIFT_matcher::match(const char* image, unsigned int num_tilts)
 		cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
 
 		_num_matchings.push_back(num_matchings);
+		_total_num_matchings += num_matchings;
 		_matchings.push_back(matchings);
 	}
 
-	return true;
+	return _total_num_matchings;
 }
 
-//Return true if successfull
-bool ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
+//Return number of match
+unsigned int ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
 {
 	if(image.size()!=w*h)
 	{
 		cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
-		return false;
+		return 0;
 	}
 
 	///// Compute ASIFT keypoints
@@ -282,11 +283,11 @@ bool ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h,
 	cout<<"	"<< num_keys <<" ASIFT keypoints found in Input image"<< endl;
 
 	//// Match ASIFT keypoints
-
-	int num_matchings = 0;
+	_total_num_matchings=0;
 
 	for(unsigned int i = 0; i<_nb_refs;i++)
 	{
+		int num_matchings = 0;
 		matchingslist matchings;
 
 		cout << "Matching the keypoints..." << endl;
@@ -306,10 +307,11 @@ bool ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h,
 		cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
 
 		_num_matchings.push_back(num_matchings);
+		_total_num_matchings += num_matchings;
 		_matchings.push_back(matchings);
 	}
 
-	return true;
+	return _total_num_matchings;
 }
 
 //Return true if successfull
@@ -495,12 +497,12 @@ 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;
-}
+// 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;
+// }

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -38,8 +38,8 @@ public:
 	// virtual ~ASIFT_matcher();
 
 	bool addReference(const char* image, unsigned int num_tilts=1);
-	bool match(const char* image, unsigned int num_tilts =1);
-	bool match(vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
+	unsigned int match(const char* image, unsigned int num_tilts =1);
+	unsigned int match(vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1);
 	void print() const; //Debugging function
 	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;
@@ -51,7 +51,7 @@ public:
 	const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;}
 	const vector<float>& getZoomRef() const{ return _zoom_refs;}
 	const vector < unsigned int >& getNbMatchs() const{ return _num_matchings;}
-	unsigned int getNbMatch() const;
+	unsigned int getNbMatch() const{ return _total_num_matchings;}
 	const vector< matchingslist >& getMatch() const{ return _matchings;}
 	vector< matchingslist >& getMatch(){ return _matchings;}
 	const siftPar& getSiftPar(){ return _siftParam;}
@@ -74,6 +74,7 @@ protected:
 	vector< asift_keypoints > _keys; //Keypoints
 
 	//Matchs
+	unsigned int _total_num_matchings;
 	vector < unsigned int > _num_matchings; //Number of match/reference
 	vector< matchingslist > _matchings; //Matchs
 

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

@@ -6,10 +6,6 @@
 
 #IncludeRegexTransform: 
 
-/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
 -

ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -17,6 +17,9 @@ int main(int argc, char **argv)
         return 1;
     }
 	
+    char* output_img = "./results/res.png";
+    char* output_match = "./results/matching.txt";
+
 	//////////////////////////////////////////////// Input
 	float * iarr1;
     size_t w1, h1;
@@ -108,6 +111,7 @@ int main(int argc, char **argv)
       "book_training/train_image_001.png"};
 
     int tilt_ref = 7, tilt_input = 1;
+    int nb_match;
 
     if(argc>2)
     {
@@ -123,7 +127,7 @@ int main(int argc, char **argv)
 
 	matcher.addReference(refData[0].c_str(), tilt_ref);
 	matcher.addReference(refData[1].c_str(), tilt_ref);
-	matcher.match(ipixels1_zoom, wS1, hS1, tilt_input);
+	nb_match = matcher.match(ipixels1_zoom, wS1, hS1, tilt_input);
 
 	if(argc>3 && atoi(argv[3])>0)
 		matcher.distFilter(atoi(argv[3]));
@@ -170,9 +174,36 @@ int main(int argc, char **argv)
 	}
 
 	///////////////////////////////////////////////////////////////// Save imgOut	
-	write_png_f32("./results/res.png", opixelsASIFT, w1, h1, 1);
+	write_png_f32(output_img, opixelsASIFT, w1, h1, 1);
 	
 	delete[] opixelsASIFT; /*memcheck*/
 	
+	////// Write the coordinates of the matched points (row1, col1, row2, col2)
+	std::ofstream file(output_match);
+	if (file.is_open())
+	{		
+		// Write the number of matchings and number of references in the first line
+		file << nb_match <<"  "<<matcher.getNbRef() <<std::endl;
+
+		for(unsigned int i =0; i<matcher.getNbRef();i++)
+		{
+			//Write reference indice before match
+			file<<i<<std::endl;
+			matchingslist matchings = matcher.getMatch()[i];
+			matchingslist::iterator ptr = matchings.begin();
+			for(int i=0; i < (int) matchings.size(); i++, ptr++)		
+			{
+				file << zoom1*ptr->first.x << "  " << zoom1*ptr->first.y << "  " <<  matcher.getZoomRef()[i]*ptr->second.x << 
+				"  " <<  matcher.getZoomRef()[i]*ptr->second.y << std::endl;
+			}
+		}	
+	}
+	else 
+	{
+		std::cerr << "Unable to open the file matchings."; 
+	}
+
+	file.close();
+
     return 0;
 }