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b/ASIFT_tests/demo_ASIFT_src/results/res.png differ diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT b/ASIFT_tests/demo_ASIFT_src/test_ASIFT new file mode 100755 index 0000000..f16f265 Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/test_ASIFT differ diff --git a/asift_match/CMakeLists.txt b/asift_match/CMakeLists.txt index d1e9f30..dc0566d 100644 --- a/asift_match/CMakeLists.txt +++ b/asift_match/CMakeLists.txt @@ -132,6 +132,10 @@ target_link_libraries(ASIFT_matcher X11 ) +#add_custom_command(TARGET ASIFT_matcher PRE_BUILD +# COMMAND ${CMAKE_COMMAND} -E copy_directory +# ${CMAKE_SOURCE_DIR}/book_training $) + ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) diff --git a/asift_match/CMakeLists.txt~ b/asift_match/CMakeLists.txt~ index 106e609..c8f4de2 100644 --- a/asift_match/CMakeLists.txt~ +++ b/asift_match/CMakeLists.txt~ @@ -96,7 +96,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops -L/u ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( #CATKIN_DEPENDS roscpp tf message_runtime - INCLUDE_DIRS book_training + #INCLUDE_DIRS include ) ########### @@ -132,6 +132,10 @@ target_link_libraries(ASIFT_matcher X11 ) +add_custom_command(TARGET ASIFT_matcher PRE_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_directory + ${CMAKE_SOURCE_DIR}/book_training $) + ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) diff --git a/asift_match/src/ASIFT_matcher.cpp b/asift_match/src/ASIFT_matcher.cpp index 02eecb6..3c223e3 100644 --- a/asift_match/src/ASIFT_matcher.cpp +++ b/asift_match/src/ASIFT_matcher.cpp @@ -1,6 +1,6 @@ #include "ASIFT_matcher.hpp" -ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false) +ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(false) { default_sift_parameters(_siftParam); } @@ -63,7 +63,8 @@ bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts) size_t w1=gray.width(), h1=gray.height(); ipixels1.assign(gray.begin(), gray.end()); - std::cout<<"Building reference from "<< image_path << std::endl; + if(_showInfo) + std::cout<<"Building reference from "<< image_path << std::endl; return addReference(ipixels1, w1, h1, num_tilts); } @@ -91,8 +92,9 @@ bool ASIFT_matcher::addReference(const vector& image, unsigned int w, uns if(_resize_imgs) { - cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl - << " But the results will be normalized to the original image size." << endl << endl; + if(_showInfo) + cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl + << " But the results will be normalized to the original image size." << endl << endl; float InitSigma_aa = 1.6; @@ -171,8 +173,11 @@ bool ASIFT_matcher::addReference(const vector& image, unsigned int w, uns _nb_refs++; - cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl; - cout<<" "<< num_keys <<" ASIFT keypoints found."<< endl; + if(_showInfo) + { + cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl; + cout<<" "<< num_keys <<" ASIFT keypoints found."<< endl; + } return true; } @@ -225,7 +230,8 @@ unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts size_t w1=gray.width(), h1=gray.height(); ipixels1.assign(gray.begin(), gray.end()); - std::cout<<"Matching from "<& image, unsigned int w, un if(_resize_imgs) { - cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl - << " But the results will be normalized to the original image size." << endl << endl; + if(_showInfo) + { + cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl + << " But the results will be normalized to the original image size." << endl << endl; + } float InitSigma_aa = 1.6; @@ -322,8 +331,11 @@ unsigned int ASIFT_matcher::match(const vector& image, unsigned int w, un num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam); tend = time(0); - cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl; - cout<<" "<< num_keys <<" ASIFT keypoints found."<< endl; + if(_showInfo) + { + cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl; + cout<<" "<< num_keys <<" ASIFT keypoints found."<< endl; + } //// Match ASIFT keypoints _total_num_matchings=0; @@ -332,8 +344,9 @@ unsigned int ASIFT_matcher::match(const vector& image, unsigned int w, un { int num_matchings = 0; matchingslist matchings; + if(_showInfo) + cout << "Matching the keypoints..." << endl; - cout << "Matching the keypoints..." << endl; tstart = time(0); try { @@ -347,7 +360,9 @@ unsigned int ASIFT_matcher::match(const vector& image, unsigned int w, un // cout<< _keys[i].size()<< " " << _keys[i][0].size() <<" "<< _keys[i][0][0].size()<("/ROS_matcher/center", 10); + // _center_pub = _nh.advertise("/ROS_matcher/center", 10); + _center_pub = _nh.advertise("/object_center", 1); info_sub = new message_filters::Subscriber(_nh, "/camera/rgb/camera_info", 1); image_sub = new message_filters::Subscriber(_nh, "/camera/rgb/image_raw", 1); @@ -12,8 +13,8 @@ ROS_matcher::ROS_matcher(): _num_tilt(1), _status(MATCHER_STATUS_IDLE) // unsigned int nb_ref =2; // std::string refData[] = { - // "book_training/train_image_000.png", - // "book_training/train_image_001.png"}; + // "train_image_000.png", + // "train_image_001.png"}; // for(unsigned int i=0; iwidth, height = image_msg->height; std::vector image(height*width); - // ROS_INFO("Size : %d - %d", height*width, height * image_msg->step); + // ROS_INFO("Image size : %d - %d", height, width); //Conversion en niveau de gris if(image_msg->encoding == "yuv422") { @@ -55,15 +56,17 @@ void ROS_matcher::cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_m } //Matching - if(matcher.getNbRef()<4) + if(matcher.getNbRef()<1) { + ROS_INFO("Building reference..."); matcher.addReference(image, width, height, _num_tilt); } else { - ROS_INFO("Matching..."); + // ROS_INFO("Matching..."); _status = MATCHER_STATUS_PROCESSING; + ROS_INFO("Matching..."); int nb_match=0; nb_match = matcher.match(image, width, height, _num_tilt); @@ -74,8 +77,10 @@ void ROS_matcher::cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_m { //Publish 3D point int cx, cy; - geometry_msgs::PointStamped center_msg; - //Provisoire + // geometry_msgs::PointStamped center_msg; + rviz_interface::NamedPoint center_msg; + matcher.distFilter(2); + if(matcher.computeCenter(cx, cy)) { //Conversions des donnée d'entrée en PCL @@ -84,12 +89,37 @@ void ROS_matcher::cameraCallback(const sensor_msgs::CameraInfo::ConstPtr& info_m pcl::PointCloud::Ptr cloud(new pcl::PointCloud); pcl::fromPCLPointCloud2(pcl_pc2,*cloud); - - - center_msg.header.frame_id = image_msg->header.frame_id; - center_msg.point.x=cx; - center_msg.point.y=cy; - _center_pub.publish(center_msg); + // ROS_INFO("PointCloud Size : %d / %d", cloud->height, cloud->width); + ROS_INFO("Center %f / %f",(float)cx/width,(float)cy/height); + + if(cloud->isOrganized()) + { + pcl::PointXYZ center = cloud->at(cx,cy); + + + if(!isnan(center.x) && !isnan(center.y) && !isnan(center.z)) + { + center_msg.name = "6DOF"; + + center_msg.header.frame_id = image_msg->header.frame_id; + center_msg.point.x=center.x; + center_msg.point.y=center.y; + center_msg.point.z=center.z; + _center_pub.publish(center_msg); + } + else + { + ROS_WARN("NaN Values"); + } + } + else + { + ROS_WARN("Pointcloud isn't organized"); + } + } + else + { + ROS_WARN("Failed to compute center"); } } diff --git a/asift_match/src/ROS_matcher.hpp b/asift_match/src/ROS_matcher.hpp index c7d6226..e64c242 100644 --- a/asift_match/src/ROS_matcher.hpp +++ b/asift_match/src/ROS_matcher.hpp @@ -12,8 +12,10 @@ #include #include #include +#include #include +#include #include "ASIFT_matcher.hpp" diff --git a/asift_match/src/book_training/train_image_000.png b/asift_match/src/book_training/train_image_000.png new file mode 100644 index 0000000..4cb2bf4 Binary files /dev/null and b/asift_match/src/book_training/train_image_000.png differ diff --git a/asift_match/src/book_training/train_image_001.png b/asift_match/src/book_training/train_image_001.png new file mode 100644 index 0000000..a6101e5 Binary files /dev/null and b/asift_match/src/book_training/train_image_001.png differ diff --git a/asift_match/src/book_training/train_image_002.png b/asift_match/src/book_training/train_image_002.png new file mode 100644 index 0000000..0d78d57 Binary files /dev/null and b/asift_match/src/book_training/train_image_002.png differ diff --git a/asift_match/src/book_training/train_image_003.png b/asift_match/src/book_training/train_image_003.png new file mode 100644 index 0000000..289028a Binary files /dev/null and b/asift_match/src/book_training/train_image_003.png differ diff --git a/asift_match/src/book_training/train_image_005.yml~ b/asift_match/src/book_training/train_image_005.yml~ new file mode 100644 index 0000000..4ae821d --- /dev/null +++ b/asift_match/src/book_training/train_image_005.yml~ @@ -0,0 +1,8 @@ +Book cMo for training image 005 +rows: 4 +cols: 4 +data: + - [-0.2314201876, -0.9583649151, 0.1672763771, 0.09835545579] + - [0.7484075924, -0.06552319445, 0.6599945353, -0.0974700766] + - [-0.6215551242, 0.2779269699, 0.7324109687, 0.5499983612] + - [0; 0; 0; 1] diff --git a/asift_match/src/book_training/train_image_006.yml~ b/asift_match/src/book_training/train_image_006.yml~ new file mode 100644 index 0000000..99858af --- /dev/null +++ b/asift_match/src/book_training/train_image_006.yml~ @@ -0,0 +1,8 @@ +Book cMo for training image 008 +rows: 4 +cols: 4 +data: + - [0.02063568325, -0.5653102458, -0.8246202123, 0.0403687505] + - [0.8210674394, 0.4801939642, -0.3086454546, -0.1745029756] + - [0.5704580865, -0.6706996964, 0.4740669666, 0.4630312508] + - [0, 0, 0, 1] diff --git a/asift_match/src/book_training/train_image_007.yml~ b/asift_match/src/book_training/train_image_007.yml~ new file mode 100644 index 0000000..f729a1b --- /dev/null +++ b/asift_match/src/book_training/train_image_007.yml~ @@ -0,0 +1,9 @@ +Book cMo for training image 007 +rows: 4 +cols: 4 +data: + - [-0.03609085509, -0.3148440768, 0.9484569877, 0.04713881051] + - [-0.8006242946, 0.5771011583, 0.1611055304, 0.02971868344] + - [-0.5980787482, -0.7535432704, -0.2728998912, 0.6240615433] + - [0, 0, 0, 1] + diff --git a/asift_match/src/compute_asift_keypoints.cpp b/asift_match/src/compute_asift_keypoints.cpp index 804d348..a57911c 100755 --- a/asift_match/src/compute_asift_keypoints.cpp +++ b/asift_match/src/compute_asift_keypoints.cpp @@ -562,7 +562,7 @@ int compute_asift_keypoints(vector& image, int width, int height, int num { num_keys_total += (int) keys_all[tt][rr].size(); } - printf("%d ASIFT keypoints are detected. \n", num_keys_total); + // printf("%d ASIFT keypoints are detected. \n", num_keys_total); } return num_keys_total; diff --git a/asift_match/src/compute_asift_matches.cpp b/asift_match/src/compute_asift_matches.cpp index 70a0cb1..f064990 100755 --- a/asift_match/src/compute_asift_matches.cpp +++ b/asift_match/src/compute_asift_matches.cpp @@ -764,25 +764,25 @@ int compute_asift_matches(int num_of_tilts1, int num_of_tilts2, int w1, int h1, matchings = matchings_unique; Minfoall = Minfoall_unique; - cout << "The two images match! " << matchings.size() << " matchings are identified. log(nfa)=" << nfa << "." << endl; + // cout << "The two images match! " << matchings.size() << " matchings are identified. log(nfa)=" << nfa << "." << endl; } else { matchings.clear(); Minfoall.clear(); - cout << "The two images do not match. The matching is not significant: log(nfa)=" << nfa << "." << endl; + // cout << "The two images do not match. The matching is not significant: log(nfa)=" << nfa << "." << endl; } } else { matchings.clear(); Minfoall.clear(); - cout << "The two images do not match. Not enough matches to do epipolar filtering." << endl; + // cout << "The two images do not match. Not enough matches to do epipolar filtering." << endl; } } else { - cout << "The two images do not match.\n" << endl; + // cout << "The two images do not match.\n" << endl; } return matchings.size(); diff --git a/rviz_interface/rviz_interface/launch/interface_camera.launch~ b/rviz_interface/rviz_interface/launch/interface_camera.launch~ index 57c76e6..771ca82 100644 --- a/rviz_interface/rviz_interface/launch/interface_camera.launch~ +++ b/rviz_interface/rviz_interface/launch/interface_camera.launch~ @@ -1,4 +1,5 @@ + - + diff --git a/rviz_interface/rviz_interface/launch/interface_matching.launch b/rviz_interface/rviz_interface/launch/interface_matching.launch new file mode 100644 index 0000000..a8720c0 --- /dev/null +++ b/rviz_interface/rviz_interface/launch/interface_matching.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/rviz_interface/rviz_interface/launch/interface_matching.launch~ b/rviz_interface/rviz_interface/launch/interface_matching.launch~ new file mode 100644 index 0000000..93b40f2 --- /dev/null +++ b/rviz_interface/rviz_interface/launch/interface_matching.launch~ @@ -0,0 +1,5 @@ + + + + + diff --git a/rviz_interface/rviz_interface/launch/interface_camera.launch b/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch similarity index 100% rename from rviz_interface/rviz_interface/launch/interface_camera.launch rename to rviz_interface/rviz_interface/launch/interface_plannar_seg.launch