Ajout commentaires/Accesseurs/Nettoyage redondance

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -1,6 +1,6 @@
 #include "ASIFT_matcher.hpp"
 
-ASIFT_matcher::ASIFT_matcher(): _showDebug(0), _nb_refs(0), _resize_imgs(false)
+ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _resize_imgs(false), _showDebug(false)
 {
 	default_sift_parameters(_siftParam);
 }
@@ -10,6 +10,7 @@ ASIFT_matcher::ASIFT_matcher(): _showDebug(0), _nb_refs(0), _resize_imgs(false)
 
 // }
 
+//Return true if successfull
 bool ASIFT_matcher::addReference(const char* image, unsigned int num_tilts)
 {
 	///// Read input
@@ -112,6 +113,7 @@ bool ASIFT_matcher::addReference(const char* image, unsigned int num_tilts)
 	//Save data
 	_im_refs.push_back(ipixels1_zoom);
 	_size_refs.push_back(make_pair(wS1,hS1));
+	_zoom_refs.push_back(zoom1);
 
 	_num_keys.push_back(num_keys);
 	_num_tilts.push_back(num_tilts);
@@ -125,6 +127,7 @@ 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)
 {
 	if(_nb_refs<=0)
@@ -256,6 +259,7 @@ bool ASIFT_matcher::match(const char* image, unsigned int num_tilts)
 	return true;
 }
 
+//Return true if successfull
 bool ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
 {
 	if(image.size()!=w*h)
@@ -308,6 +312,7 @@ bool ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h,
 	return true;
 }
 
+//Return true if successfull
 bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
 {
 	if(getNbMatch()==0)
@@ -351,6 +356,7 @@ bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w)
 	return true;
 }
 
+//Return true if successfull
 bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
 {
 	if(getNbMatch()==0)
@@ -380,6 +386,7 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
 //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)
 {
 	cout<<"filtering keypoint..."<<endl;
@@ -430,7 +437,7 @@ bool ASIFT_matcher::distFilter(int threshold=2)
 		//Compute standard deviation
 		std_dev=sqrt(dist_var);
 		// cout<<"Standard Deviation : "<<std_dev<<endl;
-		
+
 		//Filter
 		vector< matchingslist > filtered_match;
 
@@ -441,7 +448,7 @@ bool ASIFT_matcher::distFilter(int threshold=2)
 			{
 				euc_dist =kp_euc_dist[i][j];
 
-				if(euc_dist<dist_avg+threshold*std_dev)
+				if(euc_dist<dist_avg+threshold*std_dev) //Filtering Condition
 				{
 					new_match.push_back(_matchings[i][j]);
 				}

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -30,6 +30,7 @@ using namespace std;
 
 typedef vector< vector< keypointslist > > asift_keypoints;
 
+//ASIFT wrapper
 class ASIFT_matcher
 {
 public:
@@ -44,33 +45,41 @@ public:
 	bool computeCenter(int& cx, int& cy) const;
 	bool distFilter(int threshold); //Filter keypoint which are far (Euclidian distance) from the center.
 
-	void setResizeImg(bool resize_imgs){ _resize_imgs=resize_imgs;}
-	void showDebug(bool showDebug){ _showDebug=showDebug;}
+
+	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;}
+	const vector<float>& getZoomRef() const{ return _zoom_refs;}
 	const vector < unsigned int >& getNbMatchs() const{ return _num_matchings;}
 	unsigned int getNbMatch() const;
 	const vector< matchingslist >& getMatch() const{ return _matchings;}
 	vector< matchingslist >& getMatch(){ return _matchings;}
+	const siftPar& getSiftPar(){ return _siftParam;}
+	void setSiftPar(const siftPar &newSiftPar){ _siftParam = newSiftPar;}
+	void setResizeImg(bool resize_imgs){ _resize_imgs=resize_imgs;}
+	void showDebug(bool showDebug){ _showDebug=showDebug;}
 
 protected:
-	int _showDebug;// = 0;
 
 	//Reference Images
 	// vector< image > _im_refs;
-	unsigned int _nb_refs;// = 0;
-	vector< vector< float > > _im_refs;
+	unsigned int _nb_refs;// = 0; //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
-	vector< int > _num_keys;
-	vector< int > _num_tilts; //Speed VS Precision
-	vector< asift_keypoints > _keys;
+	vector< int > _num_keys; //Number of keypoint/reference
+	vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision)
+	vector< asift_keypoints > _keys; //Keypoints
 
 	//Matchs
-	vector < unsigned int > _num_matchings;
-	vector< matchingslist > _matchings;
+	vector < unsigned int > _num_matchings; //Number of match/reference
+	vector< matchingslist > _matchings; //Matchs
 
-	siftPar _siftParam;	
+	siftPar _siftParam;	//SIFT parameters
 
 	//Flags
-	bool _resize_imgs;// = false;
+	bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ?
+	bool _showDebug;// = 0; //Show debugging messages ?
 };

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

@@ -6,6 +6,10 @@
 
 #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

@@ -9,7 +9,7 @@ int main(int argc, char **argv)
 				  << "Usage: " << argv[0] << " imgIn.png [Tilt number option] [Filter option] [Resize option] " << std::endl
 									      << "- imgIn.png: input image (in PNG format). " << std::endl
 									      << "- [Tilt number option: 1..(32+ ?)] : 7: Recommended / 1: no tilt. " << std::endl
-									      << "- [Filter option: 0..3]. Standard deviation filter coeff (1-68%/2-95%/3-99%). 0: no filtering. " << std::endl 
+									      << "- [Filter option: 0..3]. Standard deviation filter coeff (1-68%/2-95%/3-99%). 0: no filtering (default). " << std::endl 
 										  << "- [Resize option: 0/1]. 1: input images resize to 800x600 (default). 0: no resize. " << std::endl 
    				  << " ******************************************************************************* " << std::endl
 				  << " *********************  Jean-Michel Morel, Guoshen Yu, 2010 ******************** " << std::endl
@@ -107,26 +107,23 @@ int main(int argc, char **argv)
       "book_training/train_image_000.png", 
       "book_training/train_image_001.png"};
 
+    int tilt_ref = 7, tilt_input = 1;
+
+    if(argc>2)
+    {
+    	tilt_ref = atoi(argv[2]);
+    	tilt_input = atoi(argv[2]);
+    }
+
     ASIFT_matcher matcher;
     matcher.setResizeImg(flag_resize);
 
     time_t tstart, tend;
 	tstart = time(0);
 
-    // matcher.print();
-    // matcher.match(refData[3].c_str(), 4);
-    if(argc>2)
-    {
-		matcher.addReference(refData[0].c_str(), atoi(argv[2]));
-		matcher.addReference(refData[1].c_str(), atoi(argv[2]));
-		matcher.match(ipixels1_zoom, wS1, hS1, atoi(argv[2]));
-    }
-	else
-	{
-		matcher.addReference(refData[0].c_str(), 7);
-    	matcher.addReference(refData[1].c_str(), 7);
-		matcher.match(ipixels1_zoom, wS1, hS1);
-	}
+	matcher.addReference(refData[0].c_str(), tilt_ref);
+	matcher.addReference(refData[1].c_str(), tilt_ref);
+	matcher.match(ipixels1_zoom, wS1, hS1, tilt_input);
 
 	if(argc>3 && atoi(argv[3])>0)
 		matcher.distFilter(atoi(argv[3]));