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[Personalrobots-commit] SF.net SVN: personalrobots:[21775] pkg/trunk
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From: <mar...@us...> - 2009-08-13 04:58:17
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Revision: 21775
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21775&view=rev
Author: mariusmuja
Date: 2009-08-13 04:58:11 +0000 (Thu, 13 Aug 2009)
Log Message:
-----------
Some more refactoring of 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/src/chamfer_matching.cpp
pkg/trunk/vision/recognition_lambertian/CMakeLists.txt
pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp
Modified: pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp
===================================================================
--- pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp 2009-08-13 04:57:41 UTC (rev 21774)
+++ pkg/trunk/sandbox/descriptors_2d/src/descriptors_2d.cpp 2009-08-13 04:58:11 UTC (rev 21775)
@@ -722,7 +722,13 @@
//IplImage* vis = cvCloneImage(edge_img);
IplImage* vis = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 3);
cvCvtColor(edge_img, vis, CV_GRAY2RGB);
- matches_->show(vis, 100000);
+
+ ChamferMatch::ChamferMatches match_instances = matches_->getMatches();
+ for (size_t i = 0; i<match_instances.size();++i) {
+ printf("Match with cost: %g at lcation: (%d,%d)\n", match_instances[i].cost, match_instances[i].offset.x,match_instances[i].offset.y);
+ matches_->showMatch(vis, i);
+ }
+
CVSHOW("vis", vis);
// CVSHOW("edge", edge_img);
cvWaitKey(0);
Modified: pkg/trunk/vision/chamfer_matching/CMakeLists.txt
===================================================================
--- pkg/trunk/vision/chamfer_matching/CMakeLists.txt 2009-08-13 04:57:41 UTC (rev 21774)
+++ pkg/trunk/vision/chamfer_matching/CMakeLists.txt 2009-08-13 04:58:11 UTC (rev 21775)
@@ -5,13 +5,3 @@
rospack(chamfer_matching)
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 04:57:41 UTC (rev 21774)
+++ pkg/trunk/vision/chamfer_matching/include/chamfer_matching/chamfer_matching.h 2009-08-13 04:58:11 UTC (rev 21775)
@@ -189,7 +189,7 @@
-const int MAX_MATCHES = 2;
+//const int MAX_MATCHES = 20;
/**
* Used to represent a matching result.
@@ -197,38 +197,42 @@
class ChamferMatch
{
+ int max_matches_;
+ float min_match_distance_;
+public:
+
+
class ChamferMatchInstance {
public:
float cost;
CvPoint offset;
const ChamferTemplate* tpl;
- vector<float> costs;
- vector<int> img_offs;
+// vector<float> costs;
+// vector<int> img_offs;
};
-// int max_matches;
+ typedef vector<ChamferMatchInstance> ChamferMatches;
+
int count;
- vector<ChamferMatchInstance> matches;
+ ChamferMatches matches;
- struct MatchCenter {
- float x;
- float y;
- int count;
- float cost;
- const ChamferTemplate* tpl;
- };
- vector<MatchCenter> centers;
-
-public:
- ChamferMatch() : count(0)
+ ChamferMatch(int max_matches = 20, float min_match_distance = 10.0) : max_matches_(max_matches),
+ min_match_distance_(min_match_distance), count(0)
{
- matches.resize(MAX_MATCHES);
+ matches.resize(max_matches_);
}
+
+ void showMatch(IplImage* img, int index = 0);
+
+ const ChamferMatches& getMatches() const { return matches; }
+
+private:
void addMatch(float cost, CvPoint offset, ChamferTemplate* tpl, const vector<int>& addr, const vector<float>& costs);
- void show(IplImage* img, int matches_no);
+
+ friend class ChamferMatching;
};
@@ -269,7 +273,7 @@
* @param edge_img Edge image
* @return a match object
*/
- ChamferMatch matchEdgeImage(IplImage* edge_img, const ImageRange& range, float orientation_weight = 0.5);
+ ChamferMatch matchEdgeImage(IplImage* edge_img, const ImageRange& range, float orientation_weight = 0.5, int max_matches = 20, float min_match_distance = 10.0);
private:
Modified: pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp
===================================================================
--- pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp 2009-08-13 04:57:41 UTC (rev 21774)
+++ pkg/trunk/vision/chamfer_matching/src/chamfer_matching.cpp 2009-08-13 04:58:11 UTC (rev 21775)
@@ -443,8 +443,6 @@
ChamferTemplate::ChamferTemplate(IplImage* edge_image, float scale_) : addr_width(-1), scale(scale_)
{
- size = cvGetSize(edge_image);
-
template_coords_t local_coords;
template_orientations_t local_orientations;
@@ -457,12 +455,27 @@
local_orientations.clear();
}
+ size = cvGetSize(edge_image);
+ CvPoint min, max;
+ min.x = size.width;
+ min.y = size.height;
+ max.x = 0;
+ max.y = 0;
+
center = cvPoint(0,0);
for (size_t i=0;i<coords.size();++i) {
center.x += coords[i].first;
center.y += coords[i].second;
+
+ if (min.x>coords[i].first) min.x = coords[i].first;
+ if (min.y>coords[i].second) min.y = coords[i].second;
+ if (max.x<coords[i].first) max.x = coords[i].first;
+ if (max.y<coords[i].second) max.y = coords[i].second;
}
+ size.width = max.x - min.x;
+ size.height = max.y - min.y;
+
center.x /= coords.size();
center.y /= coords.size();
@@ -486,7 +499,9 @@
for (size_t i=0; i<coords.size();++i) {
addr[i] = coords[i].second*width+coords[i].first;
+// printf("Addr: %d, (%d,%d), %d\n", addr[i], coords[i].first, coords[i].second, width);
}
+// printf("%d,%d\n", center.x, center.y);
}
return addr;
}
@@ -751,6 +766,8 @@
float cost = (sum_distance/truncate_)/addr.size();
+// prinddrtf("%d,%d\n", tpl->center.x, tpl->center.y);
+
if (orientation_img!=NULL) {
float* optr = CV_PIXEL(float, orientation_img, x, y);
float sum_orientation = 0;
@@ -762,6 +779,7 @@
// costs[i] = orientation_diff(tpl.orientations[i], *(optr+addr[i]));
}
}
+// printf("\n");
if (cnt_orientation>0) {
cost = beta*cost+alpha*(sum_orientation/(2*M_PI))/cnt_orientation;
@@ -773,6 +791,7 @@
// printf("\nCost: %g\n", cost);
// }
+
cm.addMatch(cost, offset, tpl, addr, costs);
}
@@ -788,11 +807,16 @@
CvPoint loc = crt.first;
float scale = crt.second;
+ ChamferTemplate* tpl = templates[i]->rescale(scale);
- 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;
+// printf("Location: (%d,%d), template: (%d,%d), img: (%d,%d)\n",loc.x,loc.y,
+// templates[i]->size.width,templates[i]->size.height,
+// dist_img->width, dist_img->height);
- localChamferDistance(loc, dist_img, orientation_img, templates[i]->rescale(scale), cm, orientation_weight);
+ if (loc.x-tpl->center.x<0 || loc.x+tpl->size.width-tpl->center.x>=dist_img->width) continue;
+ if (loc.y-tpl->center.y<0 || loc.y+tpl->size.height-tpl->center.y>=dist_img->height) continue;
+// printf("%d,%d - %d,%d\n", loc.x, loc.y, templates[i]->center.x, templates[i]->center.y);
+ localChamferDistance(loc, dist_img, orientation_img, tpl, cm, orientation_weight);
}
delete it;
@@ -806,15 +830,16 @@
* @param edge_img Edge image
* @return a match object
*/
-ChamferMatch ChamferMatching::matchEdgeImage(IplImage* edge_img, const ImageRange& range, float orientation_weight)
+ChamferMatch ChamferMatching::matchEdgeImage(IplImage* edge_img, const ImageRange& range, float orientation_weight, int max_matches, float min_match_distance)
{
CV_Assert(edge_img->nChannels==1);
IplImage* dist_img;
IplImage* annotated_img;
IplImage* orientation_img;
- ChamferMatch cm;
+ ChamferMatch cm (max_matches, min_match_distance);
+
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);
@@ -843,14 +868,12 @@
}
-int CLUSTER_SIZE = 10;
-
void ChamferMatch::addMatch(float cost, CvPoint offset, ChamferTemplate* tpl, const vector<int>& addr, const vector<float>& costs)
{
bool new_match = true;
for (int i=0; i<count; ++i) {
- if (abs(matches[i].offset.x-offset.x)+abs(matches[i].offset.y-offset.y)<CLUSTER_SIZE) {
+ if (abs(matches[i].offset.x-offset.x)+abs(matches[i].offset.y-offset.y)<min_match_distance_) {
// too close, not a new match
new_match = false;
// if better cost, replace existing match
@@ -858,8 +881,8 @@
matches[i].cost = cost;
matches[i].offset = offset;
matches[i].tpl = tpl;
- matches[i].costs = costs;
- matches[i].img_offs = addr;
+// matches[i].costs = costs;
+// matches[i].img_offs = addr;
}
// re-bubble to keep ordered
int k = i;
@@ -876,12 +899,12 @@
if (new_match) {
// if we don't have enough matches yet, add it to the array
- if (count<MAX_MATCHES) {
+ if (count<max_matches_) {
matches[count].cost = cost;
matches[count].offset = offset;
matches[count].tpl = tpl;
- matches[count].costs = costs;
- matches[count].img_offs = addr;
+// matches[count].costs = costs;
+// matches[count].img_offs = addr;
count++;
}
// otherwise find the right position to insert it
@@ -905,47 +928,30 @@
matches[j].cost = cost;
matches[j].offset = offset;
matches[j].tpl = tpl;
- matches[j].costs = costs;
- matches[j].img_offs = addr;
+// 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");
-
}
-void ChamferMatch::show(IplImage* img, int matches_no)
+void ChamferMatch::showMatch(IplImage* img, int index)
{
- printf("I have found %d matches.\n",count);
+ if (index>=count) {
+ printf("Index too big.\n");
+ }
- int show_cnt = min(count, matches_no);
+ assert(img->nChannels==3);
- for (int i=0;i<show_cnt;++i) {
- ChamferMatchInstance match = matches[i];
- printf("Match at: (%d,%d), scale: %f, cost: %f\n", match.offset.x, match.offset.y, match.tpl->scale, match.cost);
+ ChamferMatchInstance match = matches[index];
- 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;
+ 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;
-// 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");
+ unsigned char *p = CV_PIXEL(unsigned char, img,x,y);
+ p[0] = p[2] = 0;
+ p[1] = 255;
}
}
Modified: pkg/trunk/vision/recognition_lambertian/CMakeLists.txt
===================================================================
--- pkg/trunk/vision/recognition_lambertian/CMakeLists.txt 2009-08-13 04:57:41 UTC (rev 21774)
+++ pkg/trunk/vision/recognition_lambertian/CMakeLists.txt 2009-08-13 04:58:11 UTC (rev 21775)
@@ -36,4 +36,3 @@
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)
Modified: pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp
===================================================================
--- pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp 2009-08-13 04:57:41 UTC (rev 21774)
+++ pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp 2009-08-13 04:58:11 UTC (rev 21775)
@@ -558,13 +558,16 @@
// }
// printf("\n");
- ChamferMatch match = cm->matchEdgeImage(gray, positions, scales);
+ ChamferMatch match = cm->matchEdgeImage(gray, LocationScaleImageRange(positions, scales));
IplImage* left_clone = cvCloneImage(left);
- match.show(left, templates_no);
+ ChamferMatch::ChamferMatches match_instances = match.getMatches();
+ for (size_t i = 0; i<match_instances.size();++i) {
+ printf("Match with cost: %g at lcation: (%d,%d)\n", match_instances[i].cost, match_instances[i].offset.x,match_instances[i].offset.y);
+ match.showMatch(left, i);
+ }
-
if(display_){
// show filtered disparity
cvShowImage("disparity", disp);
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