Resolution bug Save/load references

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -535,14 +535,15 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 	std::ofstream file_key1(ref_path);
 	if (file_key1.is_open())
 	{
-		file_key1<<_nb_refs<<"  "<<std::endl;
-		for(unsigned int i=0; i<_keys.size();i++)
+		file_key1<<_nb_refs<<" "<<std::endl;
+		for(unsigned int j=0; j<_keys.size();j++)
 		{
-			asift_keypoints kps =_keys[i];
+			asift_keypoints kps =_keys[j];
 			// Follow the same convention of David Lowe: 
 			// the first line contains the number of keypoints and the length of the desciptors (128) 
 			// Added number of tilts
-			file_key1 << _num_keys[i] << "  " << VecLength << "  " <<std::endl; //<< _num_tilts[i] << "  " << std::endl;
+			// Added sizes
+			file_key1 << _num_keys[j] << " " << VecLength << " " << _num_tilts[j] << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl;
 			for (int tt = 0; tt < (int) kps.size(); tt++)
 			{
 				for (int rr = 0; rr < (int) kps[tt].size(); rr++)
@@ -550,11 +551,11 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 					keypointslist::iterator ptr = kps[tt][rr].begin();
 					for(int i=0; i < (int) kps[tt][rr].size(); i++, ptr++)	
 					{
-						file_key1 << _zoom_refs[i]*ptr->x << "  " << _zoom_refs[i]*ptr->y << "  " << _zoom_refs[i]*ptr->scale << "  " << ptr->angle;
-						
+						file_key1 << _zoom_refs[j]*ptr->x << " " << _zoom_refs[j]*ptr->y << " " << _zoom_refs[j]*ptr->scale << " " << ptr->angle;
+
 						for (int ii = 0; ii < (int) VecLength; ii++)
 						{
-							file_key1 << "  " << ptr->vec[ii];
+							file_key1 << " " << ptr->vec[ii];
 						}
 						
 						file_key1 << std::endl;
@@ -580,14 +581,16 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 	std::ifstream ref_file(ref_path);
 	std::string line, tmp;
 	std::stringstream iss;
+	pair<int,int> size_tmp;
 	if (ref_file.is_open())
 	{
 		std::getline(ref_file, line);
 		std::string::size_type sz;
-		_nb_refs = std::stoi(line, &sz); //C++11
-		// _nb_refs = atoi(line.c_str());
+		// _nb_refs = std::stoi(line, &sz); //C++11
+		_nb_refs = atoi(line.c_str());
 		_keys = std::vector<asift_keypoints>(_nb_refs);
 		_num_keys = std::vector< int >(_nb_refs);
+		_size_refs= std::vector< pair<int,int> >(_nb_refs);
 		_num_tilts = std::vector< int >(_nb_refs,1);
 		_zoom_refs = std::vector<float>(_nb_refs,1);
 		for(unsigned int i = 0; i<_nb_refs;i++)
@@ -605,27 +608,40 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 				return false;
 			}
 
-			// std::getline(iss,tmp,' ');
+			std::getline(iss,tmp,' ');
 			// _num_tilts[i]=atoi(tmp.c_str());
 
+			std::getline(iss,tmp,' ');
+			size_tmp.first=atoi(tmp.c_str());
+
+			std::getline(iss,tmp,' ');
+			size_tmp.second=atoi(tmp.c_str());
+
+			_size_refs[i]=size_tmp;
+
 			keypointslist list;
-			for(unsigned int j =0; j<(unsigned int)_num_keys[j];j++)
+			for(unsigned int j =0; j<(unsigned int)_num_keys[i];j++)
 			{
 				keypoint nkp;
 
 				std::getline(ref_file, line);
 				std::stringstream iss(line);
+				// if(j==0)
+				// 	cout<<line<<endl;
 
 				std::getline(iss,tmp,' ');
 				// std::stof(nb_ref, nkp.x); //C++11
 				nkp.x=atof(tmp.c_str());
-
+				// if(j<5)
+				// 	cout<<"x : "<<nkp.x<<endl;
 				std::getline(iss,tmp,' ');
 				nkp.y=atof(tmp.c_str());
-
+				// if(j<5)
+				// 	cout<<"y : "<<nkp.y<<endl;
 				std::getline(iss,tmp,' ');
 				nkp.scale=atof(tmp.c_str());
-
+				// if(j<5)
+				// 	cout<<"Scale : "<<nkp.scale<<endl;
 				std::getline(iss,tmp,' ');
 				nkp.angle=atof(tmp.c_str());
 
@@ -636,6 +652,13 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 				}
 
 				list.push_back(nkp);
+				// if(j<5)
+				// {
+				// 	cout<<"x : "<<list[j].x<<endl;
+				// 	cout<<"y : "<<list[j].y<<endl;
+				// 	cout<<"Scale : "<<list[j].scale<<endl;
+				// }
+
 			}
 			std::vector< keypointslist > vkps(1,list);
 			asift_keypoints akps(1,vkps);
@@ -664,7 +687,7 @@ void ASIFT_matcher::print() const
 			for(unsigned int k=0; k<_keys[i][j].size();k++)
 			{
 				cout<<"		"<<k<<" - size :"<<_keys[i][j][k].size()<<endl;
-				float sx=0,sy=0,ss=0,sa=0, sv=0;
+				double sx=0,sy=0,ss=0,sa=0, sv=0;
 				for(unsigned int l=0; l<_keys[i][j][k].size();l++)
 				{
 					sx+=_keys[i][j][k][l].x;
@@ -675,6 +698,7 @@ void ASIFT_matcher::print() const
 					{
 						sv+=_keys[i][j][k][l].vec[v];
 					}
+					// cout<<" 		"<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
 				}
 				cout<<" 		"<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
 			}

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

@@ -66,6 +66,10 @@ 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
 -
@@ -318,10 +322,6 @@ 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 +1,21 @@
-0  20
+23  1
 0
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
-18
-19
+315.018  155.736  260.177  249.244
+223.913  244.816  2.56948e-38  1.12989e-38
+231.964  208.605  -5.21643e-18  -3.21371e-18
+309.751  165.122  1.33215e-38  1.11233e-38
+321.857  118.766  0  0
+230.253  240.932  0  0
+214.152  233.929  9.88742e-41  5.02646e-41
+226.483  216.543  0  0
+333.71  128.226  -1.75948e-18  -2.95041e-18
+232.541  217.373  2.21343e-38  1.2881e-38
+218.692  222.244  -5.68496e-18  -3.2052e-18
+320.409  248.492  2.14415e-38  4.56393e-39
+312.409  253.913  6.79367e-35  1.35834e-35
+300.715  265.302  0  0
+310.975  163.84  3.91747e-41  3.31785e-41
+287.05  158.348  0  0
+236.559  230.379  7.13971e-35  3.4433e-35
+360.468  133.533  0  0
+321.857  118.766  -1.60778e-18  -3.41162e-18

ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -19,7 +19,7 @@ int main(int argc, char **argv)
 	
     char* output_img = "./results/res.png";
     char* output_match = "./results/matching.txt";
-    // char* output_references = "./results/references.txt";
+    char* output_references = "./results/references.txt";
 
 	//////////////////////////////////////////////// Input
 	// float * iarr1;
@@ -137,36 +137,58 @@ int main(int argc, char **argv)
 		zoom1 = 1;
 	}
 
-	// unsigned int nb_ref =2;
-	// std::string refData[] = {
- //      "book_training/train_image_000.png", 
- //      "book_training/train_image_001.png", 
- //      "book_training/train_image_002.png", 
- //      "book_training/train_image_003.png"};
-
-	unsigned int nb_ref =21;
+	unsigned int nb_ref =1;
 	std::string refData[] = {
-      "toy_training/obj1bg1__processed__0000_color.jpg",
-      "toy_training/obj1bg1__processed__0001_color.jpg",
-      "toy_training/obj1bg1__processed__0002_color.jpg",
-      "toy_training/obj1bg1__processed__0003_color.jpg",
-      "toy_training/obj1bg1__processed__0004_color.jpg",
-      "toy_training/obj1bg1__processed__0005_color.jpg",
-      "toy_training/obj1bg1__processed__0006_color.jpg",
-      "toy_training/obj1bg1__processed__0007_color.jpg",
-      "toy_training/obj1bg1__processed__0008_color.jpg",
-      "toy_training/obj1bg1__processed__0009_color.jpg",
-      "toy_training/obj1bg1__processed__0010_color.jpg",
-      "toy_training/obj1bg1__processed__0011_color.jpg",
-      "toy_training/obj1bg1__processed__0012_color.jpg",
-      "toy_training/obj1bg1__processed__0013_color.jpg",
-      "toy_training/obj1bg1__processed__0014_color.jpg",
-      "toy_training/obj1bg1__processed__0015_color.jpg",
-      "toy_training/obj1bg1__processed__0016_color.jpg",
-      "toy_training/obj1bg1__processed__0017_color.jpg",
-      "toy_training/obj1bg1__processed__0018_color.jpg",
-      "toy_training/obj1bg1__processed__0019_color.jpg",
-      "toy_training/obj1bg1__processed__0020_color.jpg"};
+      "book_training/train_image_000.png", 
+      "book_training/train_image_001.png", 
+      "book_training/train_image_002.png", 
+      "book_training/train_image_003.png"};
+
+	// unsigned int nb_ref =21;
+	// std::string refData[] = {
+ //      "toy_training/obj1bg0__processed__0000_color.jpg",
+ //      "toy_training/obj1bg0__processed__0001_color.jpg",
+ //      "toy_training/obj1bg0__processed__0002_color.jpg",
+ //      "toy_training/obj1bg0__processed__0003_color.jpg",
+ //      "toy_training/obj1bg0__processed__0004_color.jpg",
+ //      "toy_training/obj1bg0__processed__0005_color.jpg",
+ //      "toy_training/obj1bg0__processed__0006_color.jpg",
+ //      "toy_training/obj1bg0__processed__0007_color.jpg",
+ //      "toy_training/obj1bg0__processed__0008_color.jpg",
+ //      "toy_training/obj1bg0__processed__0009_color.jpg",
+ //      "toy_training/obj1bg0__processed__0010_color.jpg",
+ //      "toy_training/obj1bg0__processed__0011_color.jpg",
+ //      "toy_training/obj1bg0__processed__0012_color.jpg",
+ //      "toy_training/obj1bg0__processed__0013_color.jpg",
+ //      "toy_training/obj1bg0__processed__0014_color.jpg",
+ //      "toy_training/obj1bg0__processed__0015_color.jpg",
+ //      "toy_training/obj1bg0__processed__0016_color.jpg",
+ //      "toy_training/obj1bg0__processed__0017_color.jpg",
+ //      "toy_training/obj1bg0__processed__0018_color.jpg",
+ //      "toy_training/obj1bg0__processed__0019_color.jpg",
+ //      "toy_training/obj1bg0__processed__0020_color.jpg"};
+
+ //    unsigned int nb_ref =12;
+	// std::string refData[] = {
+ //      "toy_training/obj11__processed__0036_color.jpg",
+ //      "toy_training/obj11__processed__0037_color.jpg",
+ //      "toy_training/obj11__processed__0038_color.jpg",
+ //      "toy_training/obj11__processed__0039_color.jpg",
+ //      "toy_training/obj11__processed__0040_color.jpg",
+ //      "toy_training/obj11__processed__0041_color.jpg",
+ //      "toy_training/obj11__processed__0042_color.jpg",
+ //      "toy_training/obj11__processed__0043_color.jpg",
+ //      "toy_training/obj11__processed__0044_color.jpg",
+ //      "toy_training/obj11__processed__0045_color.jpg",
+ //      "toy_training/obj11__processed__0046_color.jpg",
+ //      "toy_training/obj11__processed__0047_color.jpg"};
+
+	// unsigned int nb_ref =1;
+	// std::string refData[] = {
+ //      "toy_training/000.png",
+ //      "toy_training/001.png",
+ //      "toy_training/002.png",
+ //      "toy_training/003.png",};
 
     int tilt_ref = 7, tilt_input = 1;
     int nb_match;
@@ -182,15 +204,19 @@ int main(int argc, char **argv)
 
     time_t tstart, tend;
 	tstart = time(0);
-
+	
 	for(unsigned int i=0; i<nb_ref;i++)
 	{
 		matcher.addReference(refData[i].c_str(), tilt_ref);
 	}
 
-	// matcher.saveReferences(output_references);
+	std::cout<<"Saving..."<<std::endl;
+	matcher.saveReferences(output_references);
 	// matcher.print();
-	// matcher.loadReferences(output_references);
+	std::cout<<"Loading..."<<std::endl;
+	matcher.loadReferences(output_references);
+	// std::cout<<"Saving..."<<std::endl;
+	// matcher.saveReferences("./results/references2.txt");
 	// matcher.print();
 
 	nb_match = matcher.match(ipixels1_zoom, wS1, hS1, tilt_input);