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[Personalrobots-commit] SF.net SVN: personalrobots:[21772] pkg/trunk
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From: <mar...@us...> - 2009-08-13 04:57:30
|
Revision: 21772
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21772&view=rev
Author: mariusmuja
Date: 2009-08-13 04:57:13 +0000 (Thu, 13 Aug 2009)
Log Message:
-----------
Changes to chamfer matching
Modified Paths:
--------------
pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp
pkg/trunk/vision/chamfer_matching/CMakeLists.txt
pkg/trunk/vision/chamfer_matching/include/chamfer_matching/chamfer_matching.h
pkg/trunk/vision/chamfer_matching/manifest.xml
pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp
pkg/trunk/vision/recognition_lambertian/CMakeLists.txt
Modified: pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp
===================================================================
--- pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp 2009-08-13 04:55:20 UTC (rev 21771)
+++ pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp 2009-08-13 04:57:13 UTC (rev 21772)
@@ -716,15 +716,15 @@
IplImage *edge_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 1);
cvCvtColor(img, edge_img, CV_BGR2GRAY);
cvCanny(edge_img, edge_img, 80, 160);
- *matches_ = chamfer_->matchEdgeImage(edge_img);
+ *matches_ = chamfer_->matchEdgeImage(edge_img, SlidingWindowImageRange(edge_img->width, edge_img->height));
if(debug_) {
//IplImage* vis = cvCloneImage(edge_img);
IplImage* vis = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 3);
- cvCvtColor(edge_img, vis, CV_GRAY2BGR);
+ cvCvtColor(edge_img, vis, CV_GRAY2RGB);
matches_->show(vis, 100000);
CVSHOW("vis", vis);
- CVSHOW("edge", edge_img);
+// CVSHOW("edge", edge_img);
cvWaitKey(0);
cvReleaseImage(&vis);
}
Modified: pkg/trunk/vision/chamfer_matching/CMakeLists.txt
===================================================================
--- pkg/trunk/vision/chamfer_matching/CMakeLists.txt 2009-08-13 04:55:20 UTC (rev 21771)
+++ pkg/trunk/vision/chamfer_matching/CMakeLists.txt 2009-08-13 04:57:13 UTC (rev 21772)
@@ -4,4 +4,14 @@
set(ROS_BUILD_TYPE RelWithDebInfo)
rospack(chamfer_matching)
-rospack_add_library(chamfer_matching src/chamfer_matching.cpp)
\ No newline at end of file
+rospack_add_library(chamfer_matching src/chamfer_matching.cpp)
+
+rospack_add_executable(test_chamfer src/test_chamfer.cpp)
+target_link_libraries(test_chamfer chamfer_matching)
+
+rospack_add_executable(test_chamfer2 src/test_chamfer2.cpp)
+target_link_libraries(test_chamfer2 chamfer_matching)
+
+
+rospack_add_executable(test_iterator src/test_iterator.cpp)
+target_link_libraries(test_iterator chamfer_matching)
Modified: pkg/trunk/vision/chamfer_matching/include/chamfer_matching/chamfer_matching.h
===================================================================
--- pkg/trunk/vision/chamfer_matching/include/chamfer_matching/chamfer_matching.h 2009-08-13 04:55:20 UTC (rev 21771)
+++ pkg/trunk/vision/chamfer_matching/include/chamfer_matching/chamfer_matching.h 2009-08-13 04:57:13 UTC (rev 21772)
@@ -69,44 +69,128 @@
void findContourOrientations(const template_coords_t& coords, template_orientations_t& orientations);
+///////////////////////// Image iterators ////////////////////////////
+typedef pair<CvPoint, float> location_scale_t;
+
+
+class ImageIterator
+{
+public:
+ virtual bool hasNext() const = 0;
+ virtual location_scale_t next() = 0;
+};
+
+class ImageRange
+{
+public:
+ virtual ImageIterator* iterator() const = 0;
+};
+
+
+// Sliding window
+
+class SlidingWindowImageRange : public ImageRange
+{
+ int width_;
+ int height_;
+ int x_step_;
+ int y_step_;
+ int scales_;
+ float min_scale_;
+ float max_scale_;
+
+public:
+ SlidingWindowImageRange(int width, int height, int x_step = 3, int y_step = 3, int scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
+ width_(width), height_(height), x_step_(x_step),y_step_(y_step), scales_(scales), min_scale_(min_scale), max_scale_(max_scale)
+ {
+ }
+
+ ImageIterator* iterator() const;
+};
+
+class LocationImageRange : public ImageRange
+{
+ const vector<CvPoint>& locations_;
+
+ int scales_;
+ float min_scale_;
+ float max_scale_;
+
+public:
+ LocationImageRange(const vector<CvPoint>& locations, int scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
+ locations_(locations), scales_(scales), min_scale_(min_scale), max_scale_(max_scale)
+ {
+ }
+
+ ImageIterator* iterator() const;
+};
+
+
+class LocationScaleImageRange : public ImageRange
+{
+ const vector<CvPoint>& locations_;
+ const vector<float>& scales_;
+
+public:
+ LocationScaleImageRange(const vector<CvPoint>& locations, const vector<float>& scales) :
+ locations_(locations), scales_(scales)
+ {
+ assert(locations.size()==scales.size());
+ }
+
+ ImageIterator* iterator() const;
+};
+
+
+
+
/**
* Class that represents a template for chamfer matching.
*/
class ChamferTemplate
{
+ vector<ChamferTemplate*> scaled_templates;
+ vector<int> addr;
+ int addr_width;
public:
template_coords_t coords;
template_orientations_t orientations;
CvSize size;
CvPoint center;
- float template_scale; // pixels per meter
+ float scale;
- ChamferTemplate()
+ ChamferTemplate() : addr_width(-1)
{
}
- ChamferTemplate(IplImage* edge_image, float scale = -1);
+ ChamferTemplate(IplImage* edge_image, float scale_ = 1);
+ ~ChamferTemplate()
+ {
+ for (size_t i=0;i<scaled_templates.size();++i) {
+ delete scaled_templates[i];
+ }
+ }
+ vector<int>& getTemplateAddresses(int width);
/**
* Resizes a template
*
* @param scale Scale to be resized to
*/
- void rescale(float scale);
+ ChamferTemplate* rescale(float scale);
void show() const;
-private:
- void computeCenter();
};
-const int MAX_MATCHES = 20;
+const int MAX_MATCHES = 2;
+
/**
* Used to represent a matching result.
*/
@@ -119,6 +203,8 @@
float cost;
CvPoint offset;
const ChamferTemplate* tpl;
+ vector<float> costs;
+ vector<int> img_offs;
};
// int max_matches;
@@ -141,7 +227,7 @@
matches.resize(MAX_MATCHES);
}
- void addMatch(float cost, CvPoint offset, const ChamferTemplate& tpl);
+ void addMatch(float cost, CvPoint offset, ChamferTemplate* tpl, const vector<int>& addr, const vector<float>& costs);
void show(IplImage* img, int matches_no);
};
@@ -156,20 +242,13 @@
*/
class ChamferMatching
{
- float min_scale;
- float max_scale;
- int count_scale;
- float truncate;
+ float truncate_;
+ bool use_orientation_;
-
vector<ChamferTemplate*> templates;
- vector<CvPoint> candidate_locations;
-
public:
- ChamferMatching(bool use_orientation_ = false) : min_scale(0.5), max_scale(1.5), count_scale(5),
- truncate(20)
+ ChamferMatching(bool use_orientation = true, float truncate = 20) : truncate_(truncate), use_orientation_(use_orientation)
{
-
}
~ChamferMatching()
@@ -183,81 +262,19 @@
* Add a template to the detector from an edge image.
* @param templ An edge image
*/
- void addTemplateFromImage(IplImage* templ);
- void addTemplateFromImage(IplImage* templ, float real_height);
+ void addTemplateFromImage(IplImage* templ, float scale = 1.0);
-
/**
- * In case we know where the object might be, we can add those locations to
- * speedup the search. Otherwise a classic sliding-window search will be
- * performed over the entire image.
- *
- * @param locations
- */
- void addCandidateLocations(const vector<CvPoint>& locations)
- {
- candidate_locations = locations;
- }
-
- /**
- * Run matching usin an edge image.
+ * Run matching using an edge image.
* @param edge_img Edge image
* @return a match object
*/
- ChamferMatch matchEdgeImage(IplImage* edge_img);
+ ChamferMatch matchEdgeImage(IplImage* edge_img, const ImageRange& range, float orientation_weight = 0.5);
- ChamferMatch matchEdgeImage(IplImage* edge_img, const vector<CvPoint>& locations, const vector<float>& scales);
-
- /**
- * Run matching using a regular image.
- *
- * Will run Canny edge detection and then the edge matching.
- * @param img
- * @param high_threshold The high edge threshold to use in Canny edge detector.
- * @param low_threshold The low edge threshold to use in Canny edge detector. If default (-1) is used it's computed as high_threshold/2.
- * @return a match object
- */
- ChamferMatch matchImage(IplImage* img, int high_threshold = 160, int low_threshold = -1);
-
private:
-
-
-
- /**
- * Computes annotated distance transform.
- *
- * @param edges_img Edge image.
- * @param dist_img Distance image, each pixel represents the distance to the nearest edge.
- * @param annotate_img Two channel int image, each 'pixel' represents the coordinate of the nearest edge.
- * @param orientation_img Orientation image, should contain the orientations of each edge pixel. Only pixels with
- * valid orientations are processed in the distance transform.
- * @param truncate Value to truncate the distance transform to, no value bigger than this is allowed in the output.
- * This helps when the contours of objects are interrupted, so we don't penalize the gaps too much.
- * @param a Horizontal distance.
- * @param b Diagonal distance.
- */
- void computeDistanceTransform(IplImage* edges_img, IplImage* dist_img, IplImage* annotate_img, IplImage* orientation_img, float truncate = -1, float a = 1.0, float b = 1.5 );
-
-
/**
- * Computes teh orientations of edges in an edge image,
- * @param edge_img Edge image
- * @param orientation_img Image of same size as edge image that will be filed in with the orientations of each edge pixel in the edge image.
- */
- void computeEdgeOrientations(IplImage* edge_img, IplImage* orientation_img);
-
-
- /**
- * For each non-edge pixels sets it's orientation the same with the closest edge pixel.
- * @param annotated_img
- * @param orientation_img
- */
- void fillNonContourOrientations(IplImage* annotated_img, IplImage* orientation_img);
-
-
- /**
* Computes the chamfer matching cost for one position in the target image.
* @param dist_img Distance transform image.
* @param orientation_img Orientation image.
@@ -267,40 +284,19 @@
* @param alpha Weighting between distance cost and orientation cost.
* @return Chamfer matching cost
*/
- float localChamferDistance(IplImage* dist_img, IplImage* orientation_img, const vector<int>& templ_addr, const vector<float>& templ_orientations, CvPoint offset, float alpha = 0.5);
+ void localChamferDistance(CvPoint offset, IplImage* dist_img, IplImage* orientation_img, ChamferTemplate* tpl, ChamferMatch& cm, float orientation_weight);
-
/**
- * Matches a template throughout an image.
- * @param dist_img Distance transform image.
- * @param orientation_img Orientation image.
- * @param tpl Template to match
- * @param cm Matching result
- */
- void matchTemplate(IplImage* dist_img, IplImage* orientation_img, const ChamferTemplate& tpl, ChamferMatch& cm);
-
-
- /**
* Matches all templates.
* @param dist_img Distance transform image.
* @param orientation_img Orientation image.
* @param cm Matching result
*/
- void matchTemplates(IplImage* dist_img, IplImage* orientation_img, ChamferMatch& cm);
+ void matchTemplates(IplImage* dist_img, IplImage* orientation_img, ChamferMatch& cm, const ImageRange& range, float orientation_weight);
- void matchTemplates(IplImage* dist_img, IplImage* orientation_img, ChamferMatch& cm, const vector<CvPoint>& locations, const vector<float>& scales);
-
-// void getMatches();
-
-
};
-
-
-
-
-
#endif /* CHAMFER_MATCHING_H_ */
Modified: pkg/trunk/vision/chamfer_matching/manifest.xml
===================================================================
--- pkg/trunk/vision/chamfer_matching/manifest.xml 2009-08-13 04:55:20 UTC (rev 21771)
+++ pkg/trunk/vision/chamfer_matching/manifest.xml 2009-08-13 04:57:13 UTC (rev 21772)
@@ -3,7 +3,7 @@
A chamfer matching library, using both edge distance and orientation.
</description>
- <author>Marius MUja</author>
+ <author>Marius Muja</author>
<license>BSD</license>
<url>http://pr.willowgarage.com</url>
<review status="experimental" notes="beta"/>
Modified: pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp
===================================================================
--- pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp 2009-08-13 04:55:20 UTC (rev 21771)
+++ pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp 2009-08-13 04:57:13 UTC (rev 21772)
@@ -1,36 +1,36 @@
/*********************************************************************
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of the Willow Garage nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2008, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
// Author: Marius Muja
@@ -51,12 +51,201 @@
+
+
+class SlidingWindowImageIterator : public ImageIterator
+{
+ int x_;
+ int y_;
+ float scale_;
+ float scale_step_;
+ int scale_cnt_;
+
+ bool has_next_;
+
+
+ int width_;
+ int height_;
+ int x_step_;
+ int y_step_;
+ int scales_;
+ float min_scale_;
+ float max_scale_;
+
+
+public:
+
+ SlidingWindowImageIterator(int width, int height, int x_step = 3, int y_step = 3, int scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
+ width_(width), height_(height), x_step_(x_step),y_step_(y_step), scales_(scales), min_scale_(min_scale), max_scale_(max_scale)
+ {
+ x_ = 0;
+ y_ = 0;
+ scale_cnt_ = 0;
+ scale_ = min_scale_;
+ has_next_ = true;
+ scale_step_ = (max_scale_-min_scale_)/scales_;
+ }
+
+ bool hasNext() const {
+ return has_next_;
+ }
+
+ location_scale_t next()
+ {
+ location_scale_t next_val = make_pair(cvPoint(x_,y_),scale_);
+
+ x_ += x_step_;
+
+ if (x_ >= width_) {
+ x_ = 0;
+ y_ += y_step_;
+
+ if (y_ >= height_) {
+ y_ = 0;
+ scale_ += scale_step_;
+ scale_cnt_++;
+
+ if (scale_cnt_ == scales_) {
+ has_next_ = false;
+ scale_cnt_ = 0;
+ scale_ = min_scale_;
+ }
+ }
+ }
+
+ return next_val;
+ }
+};
+
+
+ImageIterator* SlidingWindowImageRange::iterator() const
+{
+ return new SlidingWindowImageIterator(width_, height_, x_step_, y_step_, scales_, min_scale_, max_scale_);
+}
+
+
+
+
+class LocationImageIterator : public ImageIterator
+{
+ const vector<CvPoint>& locations_;
+
+ size_t iter_;
+
+ int scales_;
+ float min_scale_;
+ float max_scale_;
+
+ float scale_;
+ float scale_step_;
+ int scale_cnt_;
+
+ bool has_next_;
+
+public:
+ LocationImageIterator(const vector<CvPoint>& locations, int scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
+ locations_(locations), scales_(scales), min_scale_(min_scale), max_scale_(max_scale)
+ {
+ iter_ = 0;
+ scale_cnt_ = 0;
+ scale_ = min_scale_;
+ has_next_ = (locations_.size()==0 ? false : true);
+ scale_step_ = (max_scale_-min_scale_)/scales_;
+ }
+
+ bool hasNext() const {
+ return has_next_;
+ }
+
+ location_scale_t next()
+ {
+ location_scale_t next_val = make_pair(locations_[iter_],scale_);
+
+ iter_ ++;
+ if (iter_==locations_.size()) {
+ iter_ = 0;
+ scale_ += scale_step_;
+ scale_cnt_++;
+
+ if (scale_cnt_ == scales_) {
+ has_next_ = false;
+ scale_cnt_ = 0;
+ scale_ = min_scale_;
+ }
+ }
+
+ return next_val;
+ }
+};
+
+
+ImageIterator* LocationImageRange::iterator() const
+{
+ return new LocationImageIterator(locations_, scales_, min_scale_, max_scale_);
+}
+
+
+
+
+
+class LocationScaleImageIterator : public ImageIterator
+{
+ const vector<CvPoint>& locations_;
+ const vector<float>& scales_;
+
+ size_t iter_;
+
+ bool has_next_;
+
+public:
+ LocationScaleImageIterator(const vector<CvPoint>& locations, const vector<float>& scales) :
+ locations_(locations), scales_(scales)
+ {
+ assert(locations.size()==scales.size());
+ reset();
+ }
+
+ void reset()
+ {
+ iter_ = 0;
+ has_next_ = (locations_.size()==0 ? false : true);
+ }
+
+ bool hasNext() const {
+ return has_next_;
+ }
+
+ location_scale_t next()
+ {
+ location_scale_t next_val = make_pair(locations_[iter_],scales_[iter_]);
+
+ iter_ ++;
+ if (iter_==locations_.size()) {
+ iter_ = 0;
+
+ has_next_ = false;
+ }
+
+ return next_val;
+ }
+};
+
+ImageIterator* LocationScaleImageRange::iterator() const
+{
+ return new LocationScaleImageIterator(locations_, scales_);
+}
+
+
+
+
+
+
/**
- * Finds a point in the image from which to start contour following.
- * @param templ_img
- * @param p
- * @return
- */
+* Finds a point in the image from which to start contour following.
+* @param templ_img
+* @param p
+* @return
+*/
bool findFirstContourPoint(IplImage* templ_img, coordinate_t& p)
{
unsigned char* ptr = (unsigned char*) templ_img->imageData;
@@ -74,30 +263,29 @@
/**
- * Method that extracts a single continuous contour from an image given a starting point.
- * When it extracts the contour it tries to maintain the same direction (at a T-join for example).
- *
- * @param templ_
- * @param coords
- * @param crt
- */
+* Method that extracts a single continuous contour from an image given a starting point.
+* When it extracts the contour it tries to maintain the same direction (at a T-join for example).
+*
+* @param templ_
+* @param coords
+* @param crt
+*/
void followContour(IplImage* templ_img, template_coords_t& coords, int direction = -1)
{
const int dir[][2] = { {-1,-1}, {-1,0}, {-1,1}, {0,1}, {1,1}, {1,0}, {1,-1}, {0,-1} };
coordinate_t next;
coordinate_t next_temp;
unsigned char* ptr;
- unsigned char* ptr_temp;
assert (direction==-1 || !coords.empty());
coordinate_t crt = coords.back();
-// printf("Enter followContour, point: (%d,%d)\n", crt.first, crt.second);
+ // printf("Enter followContour, point: (%d,%d)\n", crt.first, crt.second);
// mark the current pixel as visited
CV_PIXEL(unsigned char, templ_img, crt.first, crt.second)[0] = 0;
if (direction==-1) {
- for (int j = 0 ;j<7; ++j) {
+ for (int j = 0; j<7; ++j) {
next.first = crt.first + dir[j][1];
next.second = crt.second + dir[j][0];
ptr = CV_PIXEL(unsigned char, templ_img, next.first, next.second);
@@ -112,77 +300,57 @@
}
}
else {
- coordinate_t prev = coords.at(coords.size()-2);
int k = direction;
+ int k_cost = 3;
next.first = crt.first + dir[k][1];
next.second = crt.second + dir[k][0];
ptr = CV_PIXEL(unsigned char, templ_img, next.first, next.second);
-
if (*ptr!=0) {
- next_temp.first = crt.first + dir[(k+7)%8][1];
- next_temp.second = crt.second + dir[(k+7)%8][0];
- ptr_temp = CV_PIXEL(unsigned char, templ_img, next_temp.first, next_temp.second);
- if (*ptr_temp!=0) {
- *ptr_temp=0;
- coords.push_back(next_temp);
- }
- next_temp.first = crt.first + dir[(k+1)%8][1];
- next_temp.second = crt.second + dir[(k+1)%8][0];
- ptr_temp = CV_PIXEL(unsigned char, templ_img, next_temp.first, next_temp.second);
- if (*ptr_temp!=0) {
- *ptr_temp=0;
- coords.push_back(next_temp);
- }
- coords.push_back(next);
- followContour(templ_img, coords, k);
- } else {
- int p = k;
- int n = k;
+ k_cost = abs(dir[k][1])+abs(dir[k][0]);
+ }
+ int p = k;
+ int n = k;
- for (int j = 0 ;j<3; ++j) {
- p = (p + 7) % 8;
- n = (n + 1) % 8;
- next.first = crt.first + dir[p][1];
- next.second = crt.second + dir[p][0];
- ptr = CV_PIXEL(unsigned char, templ_img, next.first, next.second);
- if (*ptr!=0) {
- next_temp.first = crt.first + dir[(p+7)%8][1];
- next_temp.second = crt.second + dir[(p+7)%8][0];
- ptr_temp = CV_PIXEL(unsigned char, templ_img, next_temp.first, next_temp.second);
- if (*ptr_temp!=0) {
- *ptr_temp=0;
- coords.push_back(next_temp);
- }
- coords.push_back(next);
- followContour(templ_img, coords, p);
- break;
+ for (int j = 0 ;j<3; ++j) {
+ p = (p + 7) % 8;
+ n = (n + 1) % 8;
+ next.first = crt.first + dir[p][1];
+ next.second = crt.second + dir[p][0];
+ ptr = CV_PIXEL(unsigned char, templ_img, next.first, next.second);
+ if (*ptr!=0) {
+ int p_cost = abs(dir[p][1])+abs(dir[p][0]);
+ if (p_cost<k_cost) {
+ k_cost = p_cost;
+ k = p;
}
- next.first = crt.first + dir[n][1];
- next.second = crt.second + dir[n][0];
- ptr = CV_PIXEL(unsigned char, templ_img, next.first, next.second);
- if (*ptr!=0) {
- next_temp.first = crt.first + dir[(n+1)%8][1];
- next_temp.second = crt.second + dir[(n+1)%8][0];
- ptr_temp = CV_PIXEL(unsigned char, templ_img, next_temp.first, next_temp.second);
- if (*ptr_temp!=0) {
- *ptr_temp=0;
- coords.push_back(next_temp);
- }
- coords.push_back(next);
- followContour(templ_img, coords, n);
- break;
+ }
+ next.first = crt.first + dir[n][1];
+ next.second = crt.second + dir[n][0];
+ ptr = CV_PIXEL(unsigned char, templ_img, next.first, next.second);
+ if (*ptr!=0) {
+ int n_cost = abs(dir[n][1])+abs(dir[n][0]);
+ if (n_cost<k_cost) {
+ k_cost = n_cost;
+ k = n;
}
}
}
+
+ if (k_cost!=3) {
+ next.first = crt.first + dir[k][1];
+ next.second = crt.second + dir[k][0];
+ coords.push_back(next);
+ followContour(templ_img, coords, k);
+ }
}
}
/**
- * Finds a contour in an edge image. The original image is altered by removing the found contour.
- * @param templ_img Edge image
- * @param coords Coordinates forming the contour.
- * @return True while a contour is still found in the image.
- */
+* Finds a contour in an edge image. The original image is altered by removing the found contour.
+* @param templ_img Edge image
+* @param coords Coordinates forming the contour.
+* @return True while a contour is still found in the image.
+*/
bool findContour(IplImage* templ_img, template_coords_t& coords)
{
coordinate_t start_point;
@@ -198,14 +366,14 @@
}
/**
- * Computes the angle of a line segment.
- *
- * @param a One end of te line segment
- * @param b The other end.
- * @param dx
- * @param dy
- * @return Angle in radians.
- */
+* Computes the angle of a line segment.
+*
+* @param a One end of the line segment
+* @param b The other end.
+* @param dx
+* @param dy
+* @return Angle in radians.
+*/
float getAngle(coordinate_t a, coordinate_t b, int& dx, int& dy)
{
@@ -262,7 +430,7 @@
// get the middle two angles
nth_element(angles.begin(), angles.begin()+M-1, angles.end());
nth_element(angles.begin()+M-1, angles.begin()+M, angles.end());
-// sort(angles.begin(), angles.end());
+ // sort(angles.begin(), angles.end());
// average them to compute tangent
orientations[i] = (angles[M-1]+angles[M])/2;
@@ -270,7 +438,10 @@
}
-ChamferTemplate::ChamferTemplate(IplImage* edge_image, float scale) : template_scale(scale)
+
+//////////////////////// ChamferTemplate /////////////////////////////////////
+
+ChamferTemplate::ChamferTemplate(IplImage* edge_image, float scale_) : addr_width(-1), scale(scale_)
{
size = cvGetSize(edge_image);
@@ -286,12 +457,6 @@
local_orientations.clear();
}
- computeCenter();
-}
-
-
-void ChamferTemplate::computeCenter()
-{
center = cvPoint(0,0);
for (size_t i=0;i<coords.size();++i) {
center.x += coords[i].first;
@@ -305,30 +470,65 @@
coords[i].first -= center.x;
coords[i].second -= center.y;
}
+// printf("Template coords\n");
+// for (size_t i=0;i<coords.size();++i) {
+// printf("(%d,%d), ", coords[i].first, coords[i].second);
+// }
+// printf("\n");
}
+
+vector<int>& ChamferTemplate::getTemplateAddresses(int width)
+{
+ if (addr_width!=width) {
+ addr.resize(coords.size());
+ addr_width = width;
+
+ for (size_t i=0; i<coords.size();++i) {
+ addr[i] = coords[i].second*width+coords[i].first;
+ }
+ }
+ return addr;
+}
+
+
/**
- * Resizes a template
- *
- * @param scale Scale to be resized to
- */
-void ChamferTemplate::rescale(float scale)
+* Resizes a template
+*
+* @param scale Scale to be resized to
+*/
+ChamferTemplate* ChamferTemplate::rescale(float new_scale)
{
- if (scale==1) return;
+ if (fabs(scale-new_scale)<1e-6) return this;
- template_scale *= scale;
+ for (size_t i=0;i<scaled_templates.size();++i) {
+ if (fabs(scaled_templates[i]->scale-new_scale)<1e-6) {
+ return scaled_templates[i];
+ }
+ }
- center.x = int(center.x*scale+0.5);
- center.y = int(center.y*scale+0.5);
+ float scale_factor = new_scale/scale;
- size.width = int(size.width*scale+0.5);
- size.height = int(size.height*scale+0.5);
+ ChamferTemplate* tpl = new ChamferTemplate();
+ tpl->scale = new_scale;
+ tpl->center.x = int(center.x*scale_factor+0.5);
+ tpl->center.y = int(center.y*scale_factor+0.5);
+
+ tpl->size.width = int(size.width*scale_factor+0.5);
+ tpl->size.height = int(size.height*scale_factor+0.5);
+
+ tpl->coords.resize(coords.size());
+ tpl->orientations.resize(orientations.size());
for (size_t i=0;i<coords.size();++i) {
- coords[i].first = int(coords[i].first*scale+0.5);
- coords[i].second = int(coords[i].second*scale+0.5);
+ tpl->coords[i].first = int(coords[i].first*scale_factor+0.5);
+ tpl->coords[i].second = int(coords[i].second*scale_factor+0.5);
+ tpl->orientations[i] = orientations[i];
}
+ scaled_templates.push_back(tpl);
+ return tpl;
+
}
@@ -364,151 +564,33 @@
cvNamedWindow("templ",1);
cvShowImage("templ",templ_color);
-// cvWaitKey(0);
+ // cvWaitKey(0);
cvReleaseImage(&templ_color);
}
-// ----------------- ChamferMatching ---------------------
+//////////////////////// ChamferMatching /////////////////////////////////////
-/**
- * Add a template to the detector from an edge image.
- * @param templ An edge image
- */
-void ChamferMatching::addTemplateFromImage(IplImage* templ)
-{
-
- //printf("Template height: %d\n", templ->height);
-// printf("Real height: %f\n", real_height);
-
- ChamferTemplate* cmt = new ChamferTemplate(templ);
-
- for(int i = 0; i < count_scale; ++i) {
- float scale = min_scale + (max_scale - min_scale)*i/count_scale;
-
- ChamferTemplate* cmt_resized = new ChamferTemplate(*cmt);
- cmt_resized->rescale(scale);
-
- templates.push_back(cmt_resized);
- }
-
-// cmt->show();
-}
-
-
void ChamferMatching::addTemplateFromImage(IplImage* templ, float scale)
{
ChamferTemplate* cmt = new ChamferTemplate(templ, scale);
templates.push_back(cmt);
- printf("Added a new template\n");
-
-// for(int i = 0; i < count_scale; ++i) {
-// float scale = min_scale + (max_scale - min_scale)*i/count_scale;
-//
-// ChamferTemplate* cmt_resized = new ChamferTemplate(*cmt);
-// cmt_resized->rescale(scale);
-//
-// templates.push_back(cmt_resized);
-// }
-
-// cmt->show();
+// printf("Added a new template\n");
+ // cmt->show();
}
/**
- * Run matching usin an edge image.
- * @param edge_img Edge image
- * @return a match object
- */
-ChamferMatch ChamferMatching::matchEdgeImage(IplImage* edge_img)
+* Alternative version of computeDistanceTransform, will probably be used to compute distance
+* transform annotated with edge orientation.
+*/
+void computeDistanceTransform(IplImage* edges_img, IplImage* dist_img, IplImage* annotate_img, float truncate_dt, float a = 1.0, float b = 1.5)
{
- ChamferMatch cm;
-
- IplImage* dist_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32F, 1);
- IplImage* orientation_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32F, 1);
- IplImage* annotated_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32S, 2);
-
- // Computing distance transform
- IplImage* edge_clone = cvCloneImage(edge_img);
- computeEdgeOrientations(edge_clone, orientation_img );
- cvReleaseImage(&edge_clone);
- computeDistanceTransform(edge_img,dist_img, annotated_img, orientation_img, truncate);
- fillNonContourOrientations(annotated_img, orientation_img);
-
- // Template matching
- matchTemplates(dist_img, orientation_img, cm);
-
- cvReleaseImage(&dist_img);
- cvReleaseImage(&orientation_img);
- cvReleaseImage(&annotated_img);
-
- return cm;
-}
-
-
-ChamferMatch ChamferMatching::matchEdgeImage(IplImage* edge_img, const vector<CvPoint>& locations, const vector<float>& scales)
-{
- ChamferMatch cm;
-
- IplImage* dist_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32F, 1);
- IplImage* orientation_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32F, 1);
- IplImage* annotated_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32S, 2);
-
- // Computing distance transform
- IplImage* edge_clone = cvCloneImage(edge_img);
- computeEdgeOrientations(edge_clone, orientation_img );
- cvReleaseImage(&edge_clone);
- computeDistanceTransform(edge_img,dist_img, annotated_img, orientation_img, truncate);
- fillNonContourOrientations(annotated_img, orientation_img);
-
- // Template matching
- matchTemplates(dist_img, orientation_img, cm, locations, scales);
-
- cvReleaseImage(&dist_img);
- cvReleaseImage(&orientation_img);
- cvReleaseImage(&annotated_img);
-
- return cm;
-}
-
-
-/**
- * Run matching using a regular image.
- *
- * Will run Canny edge detection and then the edge matching.
- * @param img
- * @param high_threshold The high edge threshold to use in Canny edge detector.
- * @param low_threshold The low edge threshold to use in Canny edge detector. If default (-1) is used it's computed as high_threshold/2.
- * @return a match object
- */
-ChamferMatch ChamferMatching::matchImage(IplImage* img, int high_threshold, int low_threshold)
-{
- if (low_threshold==-1) {
- low_threshold = high_threshold/2;
- }
- IplImage *edge_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 1);
- cvCvtColor(img, edge_img, CV_RGB2GRAY);
- cvCanny(edge_img, edge_img, low_threshold, high_threshold);
-
- ChamferMatch cm = matchEdgeImage(edge_img);
-
- cvReleaseImage(&edge_img);
- return cm;
-}
-
-
-
-/**
- * Alternative version of computeDistanceTransform, will probably be used to compute distance
- * transform annotated with edge orientation.
- */
-void ChamferMatching::computeDistanceTransform(IplImage* edges_img, IplImage* dist_img, IplImage* annotate_img, IplImage* orientation_img, float truncate, float a, float b)
-{
int d[][2] = { {-1,-1}, { 0,-1}, { 1,-1},
- {-1,0}, { 1,0},
- {-1,1}, { 0,1}, { 1,1} };
+ {-1,0}, { 1,0},
+ {-1,1}, { 0,1}, { 1,1} };
CvSize s = cvGetSize(edges_img);
@@ -520,17 +602,18 @@
for (int x=0;x<w;++x) {
unsigned char edge_val = CV_PIXEL(unsigned char, edges_img, x,y)[0];
- float orientation_val = CV_PIXEL(float, orientation_img, x,y)[0];
+// float orientation_val = CV_PIXEL(float, orientation_img, x,y)[0];
- if ( (edge_val!=0) && !(orientation_val<-M_PI) ) {
+// if ( (edge_val!=0) && !(orientation_val<-M_PI) ) {
+ if ( (edge_val!=0) ) {
q.push(make_pair(x,y));
- CV_PIXEL(float, dist_img, x, y)[0] = 0;
+ CV_PIXEL(float, dist_img, x, y)[0] = 0;
- if (annotate_img!=NULL) {
- int *aptr = CV_PIXEL(int,annotate_img,x,y);
- aptr[0] = x;
- aptr[1] = y;
- }
+ if (annotate_img!=NULL) {
+ int *aptr = CV_PIXEL(int,annotate_img,x,y);
+ aptr[0] = x;
+ aptr[1] = y;
+ }
}
else {
CV_PIXEL(float, dist_img, x, y)[0] = -1;
@@ -573,49 +656,50 @@
int *optr = CV_PIXEL(int,annotate_img,x,y);
aptr[0] = optr[0];
aptr[1] = optr[1];
-
}
-
-
}
}
-
}
-
// truncate dt
- if (truncate>0) {
- cvMinS(dist_img, truncate, dist_img);
+ if (truncate_dt>0) {
+ cvMinS(dist_img, truncate_dt, dist_img);
}
}
-void ChamferMatching::computeEdgeOrientations(IplImage* edge_img, IplImage* orientation_img)
+void computeEdgeOrientations(IplImage* edge_img, IplImage* orientation_img)
{
- IplImage* img_color = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_8U, 3);
- cvCvtColor(edge_img, img_color, CV_GRAY2RGB);
+ IplImage* contour_img = cvCreateImage(cvGetSize(edge_img), IPL_DEPTH_8U, 1);
template_coords_t coords;
template_orientations_t orientations;
while (findContour(edge_img, coords)) {
+
findContourOrientations(coords, orientations);
// set orientation pixel in orientation image
for (size_t i = 0; i<coords.size();++i) {
int x = coords[i].first;
int y = coords[i].second;
+ // if (orientations[i]>-M_PI)
+ {
+ CV_PIXEL(unsigned char, contour_img, x, y)[0] = 255;
+ }
CV_PIXEL(float, orientation_img, x, y)[0] = orientations[i];
}
+ // cvNamedWindow("contours"); cvShowImage("contours", contour_img);
+ // cvWaitKey(0);
coords.clear();
orientations.clear();
}
- cvReleaseImage(&img_color);
+ cvSaveImage("contours.pgm", contour_img);
}
-void ChamferMatching::fillNonContourOrientations(IplImage* annotated_img, IplImage* orientation_img)
+void fillNonContourOrientations(IplImage* annotated_img, IplImage* orientation_img)
{
int width = annotated_img->width;
int height = annotated_img->height;
@@ -636,158 +720,132 @@
}
}
-
static float orientation_diff(float o1, float o2)
{
return fabs(o1-o2);
}
-float ChamferMatching::localChamferDistance(IplImage* dist_img, IplImage* orientation_img, const vector<int>& templ_addr, const vector<float>& templ_orientations, CvPoint offset, float alpha)
+
+
+void ChamferMatching::localChamferDistance(CvPoint offset, IplImage* dist_img, IplImage* orientation_img,
+ ChamferTemplate* tpl, ChamferMatch& cm, float alpha)
{
int x = offset.x;
int y = offset.y;
- float sum_distance = 0;
- float sum_orientation = 0;
float beta = 1-alpha;
- float* ptr = (float*) dist_img->imageData;
- float* optr = (float*) orientation_img->imageData;
- ptr += (y*dist_img->width+x);
- optr += (y*orientation_img->width+x);
- for (size_t i=0;i<templ_addr.size();++i) {
- sum_distance += *(ptr+templ_addr[i]);
- }
- for (size_t i=0;i<templ_addr.size();++i) {
- sum_orientation += orientation_diff(templ_orientations[i], *(optr+templ_addr[i]));
- }
- return (beta*sum_distance/truncate+alpha*sum_orientation/M_PI)/templ_addr.size();
-}
+ vector<int>& addr = tpl->getTemplateAddresses(dist_img->width);
+ vector<float> costs(addr.size());
+ float* ptr = CV_PIXEL(float, dist_img, x, y);
+ float sum_distance = 0;
+ for (size_t i=0;i<addr.size();++i) {
+// if (x==279 && y==176 && fabs(tpl.template_scale-0.7)<0.01) {
+// printf("%g, ", *(ptr+templ_addr[i]));
+// }
-
-void ChamferMatching::matchTemplate(IplImage* dist_img, IplImage* orientation_img, const ChamferTemplate& tpl, ChamferMatch& cm)
-{
- int width = dist_img->width;
-
- const template_coords_t& coords = tpl.coords;
- // compute template address offsets
- vector<int> templ_addr;
- templ_addr.clear();
- for (size_t i= 0; i<coords.size();++i) {
- templ_addr.push_back(coords[i].second*width+coords[i].first);
+ sum_distance += *(ptr+addr[i]);
+ costs[i] = *(ptr+addr[i]);
}
- int x_start = tpl.center.x;
- int x_end = dist_img->width - tpl.size.width + tpl.center.x;
- int y_start = tpl.center.y;
- int y_end = dist_img->height - tpl.size.height + tpl.center.y;
+ float cost = (sum_distance/truncate_)/addr.size();
- if (candidate_locations.size()==0) {
- // if no candidate locations, do sliding window
- // do sliding window
- for (int y=y_start ; y< y_end ; y+=5) {
- for (int x=x_start ; x < x_end ; x+=5) {
- CvPoint offset;
- offset.x = x;
- offset.y = y;
- float cost = localChamferDistance(dist_img, orientation_img, templ_addr, tpl.orientations, offset);
-
- cm.addMatch(cost, offset, tpl);
+ if (orientation_img!=NULL) {
+ float* optr = CV_PIXEL(float, orientation_img, x, y);
+ float sum_orientation = 0;
+ int cnt_orientation = 0;
+ for (size_t i=0;i<addr.size();++i) {
+ if (tpl->orientations[i]>=-M_PI && *(optr+addr[i])>=-M_PI) {
+ sum_orientation += orientation_diff(tpl->orientations[i], *(optr+addr[i]));
+ cnt_orientation++;
+ // costs[i] = orientation_diff(tpl.orientations[i], *(optr+addr[i]));
}
}
+
+ if (cnt_orientation>0) {
+ cost = beta*cost+alpha*(sum_orientation/(2*M_PI))/cnt_orientation;
+ }
}
- else {
- // look only at the candidate locations
- }
+// if (x>260 && x<300 && y>160 && y<190 && fabs(tpl->scale-1.0)<0.01) {
+// printf("\nCost: %g\n", cost);
+// }
-}
+ cm.addMatch(cost, offset, tpl, addr, costs);
-
-void ChamferMatching::matchTemplates(IplImage* dist_img, IplImage* orientation_img, ChamferMatch& cm)
-{
- for(size_t i = 0; i < templates.size(); i++) {
- matchTemplate(dist_img, orientation_img, *templates[i],cm);
- }
}
-
-void ChamferMatching::matchTemplates(IplImage* dist_img, IplImage* orientation_img, ChamferMatch& cm,
- const vector<CvPoint>& locations, const vector<float>& scales)
+void ChamferMatching::matchTemplates(IplImage* dist_img, IplImage* orientation_img, ChamferMatch& cm, const ImageRange& range, float orientation_weight)
{
- int width = dist_img->width;
+ // try each template
+ for(size_t i = 0; i < templates.size(); i++) {
+ ImageIterator* it = range.iterator();
+ while (it->hasNext()) {
+ location_scale_t crt = it->next();
- for (size_t k=0;k<locations.size();++k) {
+ CvPoint loc = crt.first;
+ float scale = crt.second;
- CvPoint best_offset;
- float best_cost = -1;
- ChamferTemplate* best_template = NULL;
+ if (loc.x-templates[i]->center.x<0 || loc.x+templates[i]->size.width-templates[i]->center.x>=dist_img->width) continue;
+ if (loc.y-templates[i]->center.y<0 || loc.y+templates[i]->size.height-templates[i]->center.y>=dist_img->height) continue;
- for(size_t i = 0; i < templates.size(); i++) {
+ localChamferDistance(loc, dist_img, orientation_img, templates[i]->rescale(scale), cm, orientation_weight);
+ }
- printf("Trying template: %d\n", i);
+ delete it;
+ }
+}
- if (scales[k]>0 && templates[i]->template_scale>0) {
- ChamferTemplate* tpl_resized = new ChamferTemplate(*templates[i]);
- tpl_resized->rescale(scales[k]/templates[i]->template_scale);
- ChamferTemplate& tpl = *tpl_resized;
+/**
+* Run matching using an edge image.
+* @param edge_img Edge image
+* @return a match object
+*/
+ChamferMatch ChamferMatching::matchEdgeImage(IplImage* edge_img, const ImageRange& range, float orientation_weight)
+{
+ CV_Assert(edge_img->nChannels==1);
- int x_start = tpl.center.x;
- int x_end = dist_img->width - tpl.size.width + tpl.center.x;
- int y_start = tpl.center.y;
- int y_end = dist_img->height - tpl.size.height + tpl.center.y;
+ IplImage* dist_img;
+ IplImage* annotated_img;
+ IplImage* orientation_img;
+ ChamferMatch cm;
- const template_coords_t& coords = tpl.coords;
- // compute template address offsets
- vector<int> templ_addr;
- templ_addr.clear();
- for (size_t j= 0; j<coords.size();++j) {
- templ_addr.push_back(coords[j].second*width+coords[j].first);
- }
+ dist_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32F, 1);
+ annotated_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32S, 2);
- int region = 20;
- int step = 5;
- CvPoint location = locations[k];
+ // Computing distance transform
+ computeDistanceTransform(edge_img,dist_img, annotated_img, truncate_);
- for (int y=location.y-region;y<location.y+region;y+=step) {
- for (int x=location.x-region;x<location.x+region;x+=step) {
- if (x<x_start || x>=x_end) continue;
- if (y<y_start || y>=y_end) continue;
- CvPoint offset;
- offset.x = x;
- offset.y = y;
- float cost = localChamferDistance(dist_img, orientation_img, templ_addr, tpl.orientations, offset);
+ orientation_img = NULL;
+ if (use_orientation_) {
+ orientation_img = cvCreateImage(cvSize(edge_img->width, edge_img->height), IPL_DEPTH_32F, 1);
+ IplImage* edge_clone = cvCloneImage(edge_img);
+ computeEdgeOrientations(edge_clone, orientation_img );
+ cvReleaseImage(&edge_clone);
+ fillNonContourOrientations(annotated_img, orientation_img);
+ }
- if (best_cost<0 || cost<best_cost) {
- best_cost = cost;
- best_offset = offset;
- best_template = tpl_resized;
- }
+ // Template matching
+ matchTemplates(dist_img, orientation_img, cm, range, orientation_weight);
- }
- }
-
-
- }
- }
- if (best_cost>0) {
- cm.addMatch(best_cost, best_offset, *best_template);
- }
-
+ cvReleaseImage(&dist_img);
+ cvReleaseImage(&annotated_img);
+ if (use_orientation_) {
+ cvReleaseImage(&orientation_img);
}
+ return cm;
}
-int CLUSTER_SIZE = 40;
+int CLUSTER_SIZE = 10;
-
-void ChamferMatch::addMatch(float cost, CvPoint offset, const ChamferTemplate& tpl)
+void ChamferMatch::addMatch(float cost, CvPoint offset, ChamferTemplate* tpl, const vector<int>& addr, const vector<float>& costs)
{
bool new_match = true;
@@ -799,7 +857,9 @@
if (cost<matches[i].cost) {
matches[i].cost = cost;
matches[i].offset = offset;
- matches[i].tpl = &tpl;
+ matches[i].tpl = tpl;
+ matches[i].costs = costs;
+ matches[i].img_offs = addr;
}
// re-bubble to keep ordered
int k = i;
@@ -819,7 +879,9 @@
if (count<MAX_MATCHES) {
matches[count].cost = cost;
matches[count].offset = offset;
- matches[count].tpl = &tpl;
+ matches[count].tpl = tpl;
+ matches[count].costs = costs;
+ matches[count].img_offs = addr;
count++;
}
// otherwise find the right position to insert it
@@ -830,7 +892,7 @@
}
int j = 0;
- // skip all matches better that current one
+ // skip all matches better than current one
while (matches[j].cost<cost) j++;
// shift matches one position
@@ -842,16 +904,18 @@
matches[j].cost = cost;
matches[j].offset = offset;
- matches[j].tpl = &tpl;
+ matches[j].tpl = tpl;
+ matches[j].costs = costs;
+ matches[j].img_offs = addr;
}
}
-//
-// for (int i=0;i<count;++i) {
-// printf("Cost: %f\n", matches[i].cost);
-// }
-// printf("------------------------------------------------\n");
+ //
+ // for (int i=0;i<count;++i) {
+ // printf("Cost: %f\n", matches[i].cost);
+ // }
+ // printf("------------------------------------------------\n");
}
@@ -863,12 +927,25 @@
for (int i=0;i<show_cnt;++i) {
ChamferMatchInstance match = matches[i];
- printf("Cost: %f\n", match.cost);
+ printf("Match at: (%d,%d), scale: %f, cost: %f\n", match.offset.x, match.offset.y, match.tpl->scale, match.cost);
+
const template_coords_t& templ_coords = match.tpl->coords;
for (size_t i=0;i<templ_coords.size();++i) {
+ printf("%g, ", match.costs[i]);
int x = match.offset.x + templ_coords[i].first;
int y = match.offset.y + templ_coords[i].second;
- CV_PIXEL(unsigned char, img,x,y)[1] = 255;
+
+// printf("(%d,%d) + (%d,%d) = (%d,%d)\n", match.offset.x,match.offset.y, templ_coords[i].first, templ_coords[i].second, x,y);
+
+ unsigned char *p = CV_PIXEL(unsigned char, img,x,y);
+ p[0] = p[1] = p[2] = 0;
+
+ if (match.costs[i]>2) {
+ p[2] = 255;
+ } else {
+ p[1] = 255;
+ }
}
+ printf("\n");
}
}
Modified: pkg/trunk/vision/recognition_lambertian/CMakeLists.txt
===================================================================
--- pkg/trunk/vision/recognition_lambertian/CMakeLists.txt 2009-08-13 04:55:20 UTC (rev 21771)
+++ pkg/trunk/vision/recognition_lambertian/CMakeLists.txt 2009-08-13 04:57:13 UTC (rev 21772)
@@ -36,3 +36,4 @@
rospack_add_executable(rec_lam_normal_features src/rec_lam_normal_features.cpp src/visualization.cpp)
rospack_add_executable(model_fitter src/model_fitter.cpp src/ply.c)
rospack_link_boost(model_fitter filesystem)
+rospack_add_executable(test_stereo src/test_stereo.cpp)
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