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ROS matcher v1

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A debugger (Problème de référence)
This commit is contained in:
Unknown 2018-08-02 17:06:53 +02:00
parent 36abb2ffd7
commit d8929a1eac
91 changed files with 167 additions and 69 deletions
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45
asift_match/src/ASIFT_matcher.cpp
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@ -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<float>& 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<float>& 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_path<<std::endl;
if(_showInfo)
std::cout<<"Matching from "<<image_path<<std::endl;
return match(ipixels1, w1, h1, num_tilts);
}
@ -254,8 +260,11 @@ unsigned int ASIFT_matcher::match(const vector<float>& 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<float>& 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<float>& 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<float>& image, unsigned int w, un
// cout<< _keys[i].size()<< " " << _keys[i][0].size() <<" "<< _keys[i][0][0].size()<<endl;
tend = time(0);
cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
if(_showInfo)
cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
_num_matchings.push_back(num_matchings);
_total_num_matchings += num_matchings;
@ -434,7 +449,9 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
//Return true if successfull
bool ASIFT_matcher::distFilter(int threshold=2)
{
cout<<"filtering keypoint..."<<endl;
if(_showInfo)
cout<<"filtering keypoint..."<<endl;
if(getNbMatch()==0)
{
cerr<<"Error : cannot filter points without matchs"<<endl;