From f3a81b5ce4ff17383c1e4a68f4591774ee8ef42f Mon Sep 17 00:00:00 2001 From: Unknown Date: Mon, 30 Jul 2018 16:56:41 +0200 Subject: [PATCH] Resolution bug Save/load references --- ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp | 54 +- .../test_ASIFT.dir/ASIFT_matcher.cpp.o | Bin 1458304 -> 1460464 bytes .../test_ASIFT.dir/CXX.includecache | 8 +- .../test_ASIFT.dir/test_ASIFT.cpp.o | Bin 1519200 -> 1515408 bytes .../demo_ASIFT_src/results/matching.txt | 40 +- .../demo_ASIFT_src/results/references.txt | 29541 ++++++++++------ .../demo_ASIFT_src/results/references2.txt | 19475 ++++++++++ ASIFT_tests/demo_ASIFT_src/results/res.png | Bin 220764 -> 183022 bytes ASIFT_tests/demo_ASIFT_src/test/000.jpg | Bin 0 -> 96201 bytes ASIFT_tests/demo_ASIFT_src/test/001.jpg | Bin 0 -> 109486 bytes ASIFT_tests/demo_ASIFT_src/test_ASIFT | Bin 1908083 -> 1907859 bytes ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp | 92 +- .../demo_ASIFT_src/toy_training/000.png | Bin 0 -> 354962 bytes .../demo_ASIFT_src/toy_training/001.png | Bin 0 -> 357441 bytes .../demo_ASIFT_src/toy_training/002.png | Bin 0 -> 345174 bytes .../demo_ASIFT_src/toy_training/003.png | Bin 0 -> 344464 bytes .../obj11__processed__0036_color.jpg | Bin 0 -> 9161 bytes .../obj11__processed__0038_color.jpg | Bin 0 -> 8231 bytes .../obj11__processed__0039_color.jpg | Bin 0 -> 9729 bytes .../obj11__processed__0040_color.jpg | Bin 0 -> 11511 bytes .../obj11__processed__0041_color.jpg | Bin 0 -> 11650 bytes .../obj11__processed__0042_color.jpg | Bin 0 -> 12404 bytes .../obj11__processed__0043_color.jpg | Bin 0 -> 11422 bytes .../obj11__processed__0044_color.jpg | Bin 0 -> 9997 bytes .../obj11__processed__0045_color.jpg | Bin 0 -> 9641 bytes .../obj11__processed__0046_color.jpg | Bin 0 -> 10422 bytes .../obj11__processed__0047_color.jpg | Bin 0 -> 9889 bytes .../obj11__processed__0048_color.jpg | Bin 0 -> 11784 bytes .../obj11__processed__0049_color.jpg | Bin 0 -> 11714 bytes 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0 -> 11285 bytes .../obj11__processed__0067_color.jpg | Bin 0 -> 8990 bytes .../obj11__processed__0068_color.jpg | Bin 0 -> 11675 bytes .../obj11__processed__0069_color.jpg | Bin 0 -> 13528 bytes .../obj11__processed__0070_color.jpg | Bin 0 -> 12769 bytes .../obj11__processed__0071_color.jpg | Bin 0 -> 13197 bytes .../obj11__processed__0072_color.jpg | Bin 0 -> 12005 bytes .../obj1bg0__processed__0000_color.jpg | Bin 0 -> 18484 bytes .../obj1bg0__processed__0001_color.jpg | Bin 0 -> 17582 bytes .../obj1bg0__processed__0002_color.jpg | Bin 0 -> 15723 bytes .../obj1bg0__processed__0003_color.jpg | Bin 0 -> 14433 bytes .../obj1bg0__processed__0004_color.jpg | Bin 0 -> 16189 bytes .../obj1bg0__processed__0005_color.jpg | Bin 0 -> 17688 bytes .../obj1bg0__processed__0006_color.jpg | Bin 0 -> 18602 bytes .../obj1bg0__processed__0007_color.jpg | Bin 0 -> 15615 bytes .../obj1bg0__processed__0008_color.jpg | Bin 0 -> 14373 bytes .../obj1bg0__processed__0009_color.jpg | Bin 0 -> 18592 bytes .../obj1bg0__processed__0010_color.jpg | Bin 0 -> 14535 bytes .../obj1bg0__processed__0011_color.jpg | Bin 0 -> 13608 bytes .../obj1bg0__processed__0012_color.jpg | Bin 0 -> 17562 bytes .../obj1bg0__processed__0013_color.jpg | Bin 0 -> 12771 bytes .../obj1bg0__processed__0014_color.jpg | Bin 0 -> 15665 bytes .../obj1bg0__processed__0015_color.jpg | Bin 0 -> 14184 bytes .../obj1bg0__processed__0016_color.jpg | Bin 0 -> 16078 bytes .../obj1bg0__processed__0017_color.jpg | Bin 0 -> 18340 bytes .../obj1bg0__processed__0018_color.jpg | Bin 0 -> 16963 bytes .../obj1bg0__processed__0019_color.jpg | Bin 0 -> 16909 bytes .../obj1bg0__processed__0020_color.jpg | Bin 0 -> 15080 bytes .../obj1bg0__processed__0021_color.jpg | Bin 0 -> 15565 bytes 74 files changed, 39071 insertions(+), 10139 deletions(-) create mode 100644 ASIFT_tests/demo_ASIFT_src/results/references2.txt create mode 100644 ASIFT_tests/demo_ASIFT_src/test/000.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/test/001.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/000.png create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/001.png create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/002.png create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/003.png create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0036_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0038_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0039_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0040_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0041_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0042_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0043_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0044_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0045_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0046_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0047_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0048_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0049_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0050_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0051_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0052_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0053_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0054_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0055_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0056_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0057_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0058_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0059_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0060_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0061_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0062_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0063_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0064_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0065_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0066_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0067_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0068_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0069_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0070_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0071_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj11__processed__0072_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0000_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0001_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0002_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0003_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0004_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0005_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0006_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0007_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0008_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0009_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0010_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0011_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0012_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0013_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0014_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0015_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0016_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0017_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0018_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0019_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0020_color.jpg create mode 100644 ASIFT_tests/demo_ASIFT_src/toy_training/obj1bg0__processed__0021_color.jpg diff --git a/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp b/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp index 38f89cc..60a41fa 100644 --- a/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp +++ b/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<<" "<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 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(_nb_refs); _num_keys = std::vector< int >(_nb_refs); + _size_refs= std::vector< pair >(_nb_refs); _num_tilts = std::vector< int >(_nb_refs,1); _zoom_refs = std::vector(_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< vkps(1,list); asift_keypoints akps(1,vkps); @@ -664,7 +687,7 @@ void ASIFT_matcher::print() const 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a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache +++ b/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 diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o index 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