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BaxterInterface/asift_gen/ASIFT_matcher.cpp

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/*
* Image matching using Affine-SIFT algorithm.
* Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
* @author : antoine.harle@etu.upmc.Fr
* Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image
* Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009.
* Reference: ASIFT online demo (You can try ASIFT with your own images online.)
* http://www.ipol.im/pub/algo/my_affine_sift/
*/
#include "ASIFT_matcher.hpp"
//Default constructor
ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
{
default_sift_parameters(_siftParam);
}
/* Constuctor from keypoints references (.txt)
* ref_path : path to a text file with keypoints reference following the convention of saveReference function.
*/
ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
{
if(!loadReferences(ref_path))
{
std::cerr<<"Error : Failed to load references"<<std::endl;
}
}
// ASIFT_matcher::~ASIFT_matcher()
// {
// }
/*
* Add a reference image.
* image_path : path to the image file (support the same format than CImg / ImageMagick).
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
* Return true if the reference was loaded with success.
*/
bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
{
///// Read input
// float * iarr1;
// size_t w1, h1;
// if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
// std::cerr << "Unable to load image file " << image_path << std::endl;
// return false;
// }
// std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
// free(iarr1); /*memcheck*/
// cout<<"Size : "<<w1<<"/"<<h1<<" - "<<ipixels1.size()<<endl;
cimg_library::CImg<float> image;
try
{
image.assign(image_path);
}
catch(cimg_library::CImgIOException)
{
std::cerr << "Unable to load image file " << image_path << std::endl;
return false;
}
//Convert to grayscale
cimg_library::CImg<float> gray(image.width(), image.height(), 1, 1, 0);
cimg_forXY(image,x,y) {
// Separation of channels
int R = (int)image(x,y,0,0);
int G = (int)image(x,y,0,1);
int B = (int)image(x,y,0,2);
// Arithmetic addition of channels for gray
// int grayValue = (int)(0.33*R + 0.33*G + 0.33*B);
// Real weighted addition of channels for gray
int grayValueWeight = (int)(0.299*R + 0.587*G + 0.114*B);
// saving píxel values into image information
// gray(x,y,0,0) = grayValue;
gray(x,y,0,0) = grayValueWeight;
}
std::vector<float> ipixels1;
size_t w1=gray.width(), h1=gray.height();
ipixels1.assign(gray.begin(), gray.end());
if(_showInfo)
std::cout<<"Building reference from "<< image_path << std::endl;
return addReference(ipixels1, w1, h1, num_tilts);
}
/*
* Add a reference image.
* image : Gray scale image. Image size must be equal to width * height.
* w : Width of the image.
* h : Height of the image.
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
* Return true if the reference was loaded with success.
*/
bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
{
if(image.size()!=w*h)
{
cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
return false;
}
int w1=w, h1=h;
vector<float> ipixels1 = image;
///// Resize the images to area wS*hW in remaining the apsect-ratio
///// Resize if the resize flag is not set or if the flag is set unequal to 0
float wS = IM_X;
float hS = IM_Y;
float zoom1=0;
int wS1=0, hS1=0;
vector<float> ipixels1_zoom;
if(_resize_imgs)
{
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;
float fproj_p, fproj_bg;
char fproj_i;
float *fproj_x4, *fproj_y4;
int fproj_o;
fproj_o = 3;
fproj_p = 0;
fproj_i = 0;
fproj_bg = 0;
fproj_x4 = 0;
fproj_y4 = 0;
float areaS = wS * hS;
// Resize image 1
float area1 = w1 * h1;
zoom1 = sqrt(area1/areaS);
wS1 = (int) (w1 / zoom1);
hS1 = (int) (h1 / zoom1);
int fproj_sx = wS1;
int fproj_sy = hS1;
float fproj_x1 = 0;
float fproj_y1 = 0;
float fproj_x2 = wS1;
float fproj_y2 = 0;
float fproj_x3 = 0;
float fproj_y3 = hS1;
/* Anti-aliasing filtering along vertical direction */
if ( zoom1 > 1 )
{
float sigma_aa = InitSigma_aa * zoom1 / 2;
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
}
// simulate a tilt: subsample the image along the vertical axis by a factor of t.
ipixels1_zoom.resize(wS1*hS1);
fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p,
&fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4);
}
else
{
ipixels1_zoom.resize(w1*h1);
ipixels1_zoom = ipixels1;
wS1 = w1;
hS1 = h1;
zoom1 = 1;
}
///// Compute ASIFT keypoints
asift_keypoints keys;
int num_keys = 0;
time_t tstart, tend;
tstart = time(0);
num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam);
tend = time(0);
//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);
_keys.push_back(keys);
_nb_refs++;
if(_showInfo)
cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl
<<" "<< num_keys <<" ASIFT keypoints found."<< endl;
return true;
}
/*
* Perform matching between an image and the references.
* image_path : path to the image file (support the same format than CImg / ImageMagick).
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
* Return number of matching keypoints found.
*/
unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
{
if(_nb_refs<=0)
{
std::cerr<<"ASIFT_matcher Error : Trying to match without reference"<<std::endl;
return 0;
}
///// Read input
// float * iarr1;
// size_t w1, h1;
// if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
// std::cerr << "Unable to load image file " << image_path << std::endl;
// return 1;
// }
// std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
// free(iarr1); /*memcheck*/
cimg_library::CImg<float> image;
try
{
image.assign(image_path);
}
catch(cimg_library::CImgIOException)
{
std::cerr << "Unable to load image file " << image_path << std::endl;
return 0;
}
//Convert to grayscale
cimg_library::CImg<float> gray(image.width(), image.height(), 1, 1, 0);
cimg_forXY(image,x,y) {
// Separation of channels
int R = (int)image(x,y,0,0);
int G = (int)image(x,y,0,1);
int B = (int)image(x,y,0,2);
// Arithmetic addition of channels for gray
// int grayValue = (int)(0.33*R + 0.33*G + 0.33*B);
// Real weighted addition of channels for gray
int grayValueWeight = (int)(0.299*R + 0.587*G + 0.114*B);
// saving píxel values into image information
// gray(x,y,0,0) = grayValue;
gray(x,y,0,0) = grayValueWeight;
}
vector<float> ipixels1;
size_t w1=gray.width(), h1=gray.height();
ipixels1.assign(gray.begin(), gray.end());
if(_showInfo)
std::cout<<"Matching from "<<image_path<<std::endl;
return match(ipixels1, w1, h1, num_tilts);
}
/*
* Perform matching between an image and the references.
* image : Gray scale image. Image size must be equal to width * height.
* w : Width of the image.
* h : Height of the image.
* num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
* Return number of matching keypoints found.
*/
unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
{
if(image.size()!=w*h)
{
cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
return 0;
}
int w1=w, h1=h;
vector<float> ipixels1 = image;
///// Resize the images to area wS*hW in remaining the apsect-ratio
///// Resize if the resize flag is not set or if the flag is set unequal to 0
float wS = IM_X;
float hS = IM_Y;
float zoom1=0;
int wS1=0, hS1=0;
vector<float> ipixels1_zoom;
if(_resize_imgs)
{
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;
float fproj_p, fproj_bg;
char fproj_i;
float *fproj_x4, *fproj_y4;
int fproj_o;
fproj_o = 3;
fproj_p = 0;
fproj_i = 0;
fproj_bg = 0;
fproj_x4 = 0;
fproj_y4 = 0;
float areaS = wS * hS;
// Resize image 1
float area1 = w1 * h1;
zoom1 = sqrt(area1/areaS);
wS1 = (int) (w1 / zoom1);
hS1 = (int) (h1 / zoom1);
int fproj_sx = wS1;
int fproj_sy = hS1;
float fproj_x1 = 0;
float fproj_y1 = 0;
float fproj_x2 = wS1;
float fproj_y2 = 0;
float fproj_x3 = 0;
float fproj_y3 = hS1;
/* Anti-aliasing filtering along vertical direction */
if ( zoom1 > 1 )
{
float sigma_aa = InitSigma_aa * zoom1 / 2;
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
}
// simulate a tilt: subsample the image along the vertical axis by a factor of t.
ipixels1_zoom.resize(wS1*hS1);
fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p,
&fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4);
}
else
{
ipixels1_zoom.resize(w1*h1);
ipixels1_zoom = ipixels1;
wS1 = w1;
hS1 = h1;
zoom1 = 1;
}
///// Compute ASIFT keypoints
asift_keypoints keys;
int num_keys = 0;
time_t tstart, tend;
tstart = time(0);
num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam);
tend = time(0);
if(_showInfo)
cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl
<<" "<< num_keys <<" ASIFT keypoints found."<< endl;
//// Match ASIFT keypoints
_total_num_matchings=0;
_num_matchings.clear();
_matchings.clear();
for(unsigned int i = 0; i<_nb_refs;i++)
{
int num_matchings = 0;
matchingslist matchings;
if(_showInfo)
cout << "Matching the keypoints..." << endl;
tstart = time(0);
try
{
num_matchings = compute_asift_matches(num_tilts, _num_tilts[i], w, h, _size_refs[i].first, _size_refs[i].second, _showDebug, keys, _keys[i], matchings, _siftParam);
}
catch(const bad_alloc& ba)
{
cerr<<"ERROR: ASIFT_matcher::match - ";
cerr << ba.what() << endl;
}
// cout<< _keys[i].size()<< " " << _keys[i][0].size() <<" "<< _keys[i][0][0].size()<<endl;
tend = time(0);
if(_showInfo)
cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
_num_matchings.push_back(num_matchings);
_total_num_matchings += num_matchings;
_matchings.push_back(matchings);
}
return _total_num_matchings;
}
/*
* Compute the bounding rectangle of the matching keypoints.
* Match function must have been called before and found at least one matching keypoint.
* x : X-coordinate of the upper-left point.
* y : Y-coordinate of the upper-left point.
* h : Height of the rectangle.
* w : Width of the rectangle.
* Return true if the ROI was succesfully found and arguments modified.
*/
bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
{
if(getNbMatch()==0)
{
cerr<<"Error : cannot compute ROI without matchs"<<endl;
return false;
}
pair<int,int> upLe, doRi; //UpLeft / DownRight
//Initialisation
for(unsigned int i=0;i<_matchings.size();i++)
{
if(getNbMatchs()[i]!=0)
{
upLe = make_pair(_matchings[i][0].first.x,_matchings[i][0].first.y);
doRi = make_pair(_matchings[i][0].first.x,_matchings[i][0].first.y);
}
}
//Compute ROI
for(unsigned int i=0;i<_matchings.size();i++)
{
for(unsigned int j=0;j<_matchings[i].size();j++)
{
keypoint kp = _matchings[i][j].first;
if(kp.x<upLe.first)
upLe.first = kp.x;
if(kp.y<upLe.second)
upLe.second=kp.y;
if(kp.x>doRi.first)
doRi.first=kp.x;
if(kp.y>doRi.second)
doRi.second=kp.y;
}
}
x=upLe.first; //Système de coordonée ? (devrait etre bon)
y=upLe.second;
h=doRi.second-y;
w=doRi.first-x;
return true;
}
/*
* Compute the centroid of the matching keypoints.
* Match function must have been called before and found at least one matching keypoint.
* cx : X-coordinate of the centroid.
* cy : Y-coordinate of the centroid.
* Return true if the ROI was succesfully found and arguments modified.
*/
bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
{
if(getNbMatch()==0)
{
cerr<<"Error : cannot compute Center without matchs"<<endl;
return false;
}
unsigned int total_kp =0;
cx=0;cy=0;
for(unsigned int i=0;i<_matchings.size();i++)
{
for(unsigned int j=0;j<_matchings[i].size();j++)
{
keypoint kp = _matchings[i][j].first;
cx+=kp.x;
cy+=kp.y;
}
total_kp += _matchings[i].size();
}
cx/=total_kp;
cy/=total_kp;
return true;
}
/*
* Perform a standard deviation filtering on the matching keypoints.
* Match function must have been called before and found at least one matching keypoint.
* threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
* Return true if the filtering is done.
*/
bool ASIFT_matcher::distFilter(float threshold)
{
if(_showInfo)
cout<<"filtering keypoint..."<<endl;
if(getNbMatch()==0)
{
cerr<<"Error : cannot filter points without matchs"<<endl;
return false;
}
//Compute standard deviation
int cx, cy;
unsigned int total_kp =0;
unsigned int euc_dist, dist_avg =0, dist_var=0, std_dev;
vector< vector< int > > kp_euc_dist;
if(computeCenter(cx,cy))
{
// cout<<"Center : "<<cx<<" / "<<cy<<endl;
//Compute means/average distance to center + euclidian distances to center for each keypoint
for(unsigned int i=0;i<_matchings.size();i++)
{
vector<int> temp_euc_dist;
for(unsigned int j=0;j<_matchings[i].size();j++)
{
keypoint kp = _matchings[i][j].first;
euc_dist =sqrt((kp.x-cx)*(kp.x-cx)+(kp.y-cy)+(kp.y-cy));
dist_avg+=euc_dist;
temp_euc_dist.push_back(euc_dist);
}
total_kp += _matchings[i].size();
kp_euc_dist.push_back(temp_euc_dist);
}
dist_avg/=total_kp;
// cout<<"Dist avg: "<<dist_avg<<endl;
//Compute variance
for(unsigned int i=0;i<_matchings.size();i++)
{
for(unsigned int j=0;j<_matchings[i].size();j++)
{
euc_dist =kp_euc_dist[i][j];
dist_var+=(euc_dist-dist_avg)*(euc_dist-dist_avg);
}
}
dist_var/=total_kp;
//Compute standard deviation
std_dev=sqrt(dist_var);
// cout<<"Standard Deviation : "<<std_dev<<endl;
//Filter
vector< matchingslist > filtered_match;
for(unsigned int i=0;i<_matchings.size();i++)
{
matchingslist new_match;
for(unsigned int j=0;j<_matchings[i].size();j++)
{
euc_dist =kp_euc_dist[i][j];
if(euc_dist<dist_avg+threshold*std_dev) //Filtering Condition
{
new_match.push_back(_matchings[i][j]);
}
}
filtered_match.push_back(new_match);
_num_matchings[i]=new_match.size();
}
//Update number of remaining points
_total_num_matchings = 0;
for(unsigned int i=0; i<_num_matchings.size();i++)
_total_num_matchings+=_num_matchings[i];
//Save filtered matchs
_matchings = filtered_match;
return true;
}
return false;
}
/*
* Save reference data necessary for the matching.
* ref_path : path were the reference data will be saved (.txt).
* Follow a modified convention of David Lowe (SIFT keypoints) :
* - Number of reference.
* - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
* -
* - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
* Return true if the reference data was successfully saved.
*/
bool ASIFT_matcher::saveReferences(const char* ref_path) const
{
// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
std::ofstream file_key1(ref_path);
if (file_key1.is_open())
{
file_key1<<_nb_refs<<" "<<std::endl;
for(unsigned int j=0; j<_keys.size();j++)
{
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
// Added sizes (* zoom_ref useful ?)
file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first*_zoom_refs[j]<<" "<<_size_refs[j].second*_zoom_refs[j]<<" "<<_num_tilts[j] << " "<<std::endl; //<<_num_tilts[j] << " "
for (int tt = 0; tt < (int) kps.size(); tt++) //kps.size = num_tilt
{
file_key1<<kps[tt].size()<<" "<<std::endl;
for (int rr = 0; rr < (int) kps[tt].size(); rr++)
{
file_key1<<kps[tt][rr].size()<<" "<<std::endl;
keypointslist::iterator ptr = kps[tt][rr].begin();
for(int i=0; i < (int) kps[tt][rr].size(); i++, ptr++)
{
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 << std::endl;
}
}
}
// file_key1<<std::endl;
}
}
else
{
std::cerr << "Unable to open the file :"<<ref_path;
return false;
}
file_key1.close();
return true;
}
/*
* Load reference data necessary for the matching.
* ref_path : path from were the reference data will be loaded (.txt).
* Follow a modified convention of David Lowe (SIFT keypoints) :
* - Number of reference.
* - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
* -
* - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
* Return true if the reference data was successfully loaded.
*/
bool ASIFT_matcher::loadReferences(const char* ref_path)
{
std::ifstream ref_file(ref_path);
std::string line, tmp;
std::stringstream iss;
pair<int,int> img_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());
_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);
_zoom_refs = std::vector<float>(_nb_refs,1);
for(unsigned int i = 0; i<_nb_refs;i++)
{
std::getline(ref_file, line);
std::stringstream iss(line);
std::getline(iss,tmp,' ');
_num_keys[i]=atoi(tmp.c_str());
std::getline(iss,tmp,' ');
if(VecLength!=atoi(tmp.c_str()))
{
std::cerr<<"Error VecLength doesn't correspond..."<<std::endl;
return false;
}
std::getline(iss,tmp,' ');
img_size_tmp.first=atoi(tmp.c_str());
std::getline(iss,tmp,' ');
img_size_tmp.second=atoi(tmp.c_str());
_size_refs[i]=img_size_tmp;
std::getline(iss,tmp,' ');
_num_tilts[i]=atoi(tmp.c_str());
asift_keypoints nakp(_num_tilts[i]);
for(unsigned int j =0; j<(unsigned int)_num_tilts[i];j++)
{
std::getline(ref_file, line);
std::stringstream iss(line);
int veclist_size_tmp = atoi(line.c_str());
std::vector< keypointslist > vkpl(veclist_size_tmp);
for(unsigned int k =0; k<(unsigned int)veclist_size_tmp;k++)
{
std::getline(ref_file, line);
std::stringstream iss(line);
int list_size_tmp = atoi(line.c_str());
keypointslist list(list_size_tmp);
for(unsigned int l =0; l<(unsigned int)list_size_tmp;l++)
{
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());
for(unsigned int m=0; m<(int) VecLength; m++)
{
std::getline(iss,tmp,' ');
nkp.vec[m]=atof(tmp.c_str());
}
list[l]=nkp;
}
vkpl[k]=list;
}
nakp[j]=vkpl;
}
_keys[i]=nakp;
// std::getline(ref_file, line);
}
}
else
{
std::cerr << "Unable to open the file :"<<ref_path;
return false;
}
ref_file.close();
return true;
}
// bool ASIFT_matcher::saveReferences(const char* ref_path) const
// {
// // Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
// std::ofstream file_key1(ref_path);
// if (file_key1.is_open())
// {
// file_key1<<_nb_refs<<" "<<std::endl;
// for(unsigned int j=0; j<_keys.size();j++)
// {
// 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
// // Added sizes
// file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl; //<<_num_tilts[j] << " "
// for (int tt = 0; tt < (int) kps.size(); tt++) //kps.size = num_tilt
// {
// for (int rr = 0; rr < (int) kps[tt].size(); rr++)
// {
// keypointslist::iterator ptr = kps[tt][rr].begin();
// for(int i=0; i < (int) kps[tt][rr].size(); i++, ptr++)
// {
// 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 << std::endl;
// }
// }
// }
// // file_key1<<std::endl;
// }
// }
// else
// {
// std::cerr << "Unable to open the file :"<<ref_path;
// return false;
// }
// file_key1.close();
// return true;
// }
//Load reference data necessary for the matching
//Doesn't load references images or Sift parameters
//TODO : split data between different tilts
// 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());
// _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++)
// {
// std::getline(ref_file, line);
// std::stringstream iss(line);
// std::getline(iss,tmp,' ');
// _num_keys[i]=atoi(tmp.c_str());
// std::getline(iss,tmp,' ');
// if(VecLength!=atoi(tmp.c_str()))
// {
// std::cerr<<"Error VecLength doesn't correspond..."<<std::endl;
// return false;
// }
// 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;
// std::getline(iss,tmp,' ');
// _num_tilts[i]=atoi(tmp.c_str());
// keypointslist list;
// 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());
// for(unsigned int k=0; k<(int) VecLength; k++)
// {
// std::getline(iss,tmp,' ');
// nkp.vec[k]=atof(tmp.c_str());
// }
// 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);
// _keys[i]=akps;
// // std::getline(ref_file, line);
// }
// }
// else
// {
// std::cerr << "Unable to open the file :"<<ref_path;
// return false;
// }
// ref_file.close();
// return true;
// }
/*
* Assignation operator.
* m : ASIFT matcher object to copy.
*/
ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
{
_nb_refs=m.getNbRef();
_im_refs=m.getRefImgs();
_size_refs=m.getSizeRef();
_zoom_refs=m.getZoomRef();
_num_keys=m.getNumKeys();
_num_tilts=m.getNumTilts();
_keys=m.getKeys();
_total_num_matchings=m.getNbMatch();
_num_matchings=getNbMatchs();
_matchings=m.getMatch();
_siftParam=m.getSiftPar();
_resize_imgs=m.isResizingImg();
_showDebug=m.isShowingDebug();
return *this;
}
//Debugging function : print content form the ASIFT matcher.
void ASIFT_matcher::print() const
{
for(unsigned int i=0; i< _keys.size();i++)
{
cout<<"Ref :"<<i<<" - Nb tilts : "<<_num_tilts[i]<< " - Nb keys : "<< _num_keys[i]<<endl;
for(unsigned int j=0; j<_keys[i].size();j++)
{
cout<<" Tilt "<<j<<" - size :"<<_keys[i][j].size()<<endl;
for(unsigned int k=0; k<_keys[i][j].size();k++)
{
cout<<" "<<k<<" - size :"<<_keys[i][j][k].size()<<endl;
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;
sy+=_keys[i][j][k][l].y;
ss+=_keys[i][j][k][l].scale;
sa+=_keys[i][j][k][l].angle;
for(unsigned int v=0;v<VecLength;v++)
{
sv+=_keys[i][j][k][l].vec[v];
}
// cout<<" "<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
}
cout<<" "<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
}
}
}
}
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