Merge branch 'pr_from_534o' into add_matching_template

- Some PR #1 are adapted
ros-perception · Jul 18, 2017 · 031cd1f · 031cd1f
2 parents 2e5f4fe + 905b3db
commit 031cd1f
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Showing 5 changed files with 96 additions and 76 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -159,7 +159,7 @@ opencv_apps_add_nodelet(discrete_fourier_transform discrete_fourier_transform/di
   # ./tutorial_code/Histograms_Matching/calcHist_Demo.cpp
   #  ./tutorial_code/Histograms_Matching/compareHist_Demo.cpp
   # ./tutorial_code/Histograms_Matching/EqualizeHist_Demo.cpp
-  # ./tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
+opencv_apps_add_nodelet(match_template match_template/match_template src/nodelet/match_template_nodelet.cpp) # ./tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
 
 # imagecodecs
   # ./tutorial_code/imgcodecs/GDAL_IO/gdal-image.cpp
@@ -331,8 +331,6 @@ endif()
 # https://github.com/opencv/opencv/blob/2.4/samples/cpp/video_homography.cpp
 # https://github.com/opencv/opencv/blob/2.4/samples/cpp/videocapture_pvapi.cpp
 
-opencv_apps_add_nodelet(match_template match_template/match_template src/nodelet/match_template_nodelet.cpp)
-
 add_library(${PROJECT_NAME} SHARED
   src/nodelet/nodelet.cpp
   ${_opencv_apps_nodelet_cppfiles}

diff --git a/cfg/MatchTemplate.cfg b/cfg/MatchTemplate.cfg
@@ -37,17 +37,15 @@ PACKAGE='match_template'
 from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
-
-method_enum = gen.enum([ gen.const("TM_SQDIFF", int_t, 0, "TM_SQDIFF"),
-                         gen.const("TM_SQDIFF_NORMED", int_t, 1, "TM_SQDIFF_NORMED"),
-                         gen.const("TM_CCORR", int_t, 2, "TM_CCORR"),
-                         gen.const("TM_CCORR_NORMED", int_t, 3, "TM_CCORR_NORMED"),
-                         gen.const("TM_CCOEFF", int_t, 4, "TM_CCOEFF"),
-                         gen.const("TM_CCOEFF_NORMED", int_t, 5, "TM_CCOEFF_NORMED")],
-                       "Template matching method")
-
-gen.add("match_method", int_t, 0, "Template matching method", 5, 0, 5, edit_method=method_enum)
 gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)
-gen.add("match_threshold", double_t, 0, "Template matching threshold", 0.0, 0.0, 1.0)
+match_type = gen.enum([gen.const("CV_TM_SQDIFF",        int_t,  0, "Sum of Ssquared Difference"),
+                       gen.const("CV_TM_SQDIFF_NORMED", int_t,  1, "Sum of Normalized Ssquared Difference"),
+                       gen.const("CV_TM_CCORR",         int_t,  2, "Correlation"),
+                       gen.const("CV_TM_CCORR_NORMED",  int_t,  3, "Normalized Correlation"),
+                       gen.const("CV_TM_CCOEFF",        int_t,  4, "Correlation of Coefficient"),
+                       gen.const("CV_TM_CCOEFF_NORMED", int_t,  5, "Normalized Correlation of Coefficient"),
+                   ], "An enum for Mathing Mehtods")
+gen.add("match_method", int_t, 0, "Matching Methods", 5, 0, 5, edit_method=match_type)
+gen.add("match_threshold", double_t, 0, "Matching Threshold", 0.0, 0.0, 1.0)
 
 exit(gen.generate(PACKAGE, "match_template", "MatchTemplate"))
diff --git a/launch/match_template.launch b/launch/match_template.launch
@@ -2,9 +2,10 @@
   <arg name="node_name" default="match_template" />
   <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
   <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
-  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+  <arg name="debug_view" default="false" doc="Specify whether the node displays a window to show edge image" />
   <arg name="match_method" default="5" doc="Matching method. 0:CV_TM_SQDIFF 1:CV_TM_SQDIFF_NORMED 2:CV_TM_CCORR 3:CV_TM_CCORR_NORMED 4:CV_TM_CCOEFF 5:CV_TM_CCOEFF_NORMED" />
-  <arg name="template_file" default="" doc="Template file to use" />
+  <arg name="template_file" default="$(find opencv_apps)/template.png" doc="filename for template image"/>
+  <arg name="mask_file" default="$(find opencv_apps)/mask.png" doc="filename for mask image"/>
 
   <!-- match_template_nodelet.cpp -->
   <node name="$(arg node_name)" pkg="opencv_apps" type="match_template" output="screen">
@@ -13,7 +14,8 @@
     <param name="debug_view" value="$(arg debug_view)" />
     <param name="match_method" value="$(arg match_method)" />
     <param name="use_mask" value="false" />
-    <param name="template_file" value="$(arg template_file)"/>
+    <param name="template_file" value="$(arg template_file)" />
+    <param name="mask_file" value="$(arg mask_file)" />
     <param name="match_threshold" value="0.0"/>
   </node>
 </launch>
diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp
@@ -1,38 +1,50 @@
 /*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2017, Ryosuke Tajima.
- *  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 Ryosuke Tajima 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) 2017, Ryosuke Tajima.
+*  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 Ryosuke Tajima 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.
+*********************************************************************/
 
 // https://github.com/opencv/opencv/raw/master/samples/cpp/tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
+/**
+ * @file MatchTemplate_Demo.cpp
+ * @brief Sample code to use the function MatchTemplate
+ * @author OpenCV team
+ */
+
+#include <ros/ros.h>
+#include "opencv_apps/nodelet.h"
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/imgproc/types_c.h>
@@ -70,6 +82,11 @@ class MatchTemplateNodelet:public opencv_apps::Nodelet
   bool debug_view_;
   ros::Time prev_stamp_;
   cv::Mat templ_;
+  // mask is only supported since opencv 3.2 (https://github.com/opencv/opencv/pull/3554)
+#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2)
+  bool use_mask_;
+  cv::Mat mask_;
+#endif
 
   std::string scene_window_name_, templ_window_name_;
   static bool mouse_update_;
@@ -164,7 +181,17 @@ class MatchTemplateNodelet:public opencv_apps::Nodelet
         mouse_update_ = false;
       }
       // Match template
-      matchTemplate (frame, templ_, score, config_.match_method);
+      bool method_accepts_mask = (config_.match_method == CV_TM_SQDIFF || config_.match_method == CV_TM_CCORR_NORMED);      
+#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2)
+      if (use_mask_ && method_accepts_mask)
+      {
+        matchTemplate (frame, templ_, score, config_.match_method, mask_);
+      }
+      else
+#endif
+      {
+        matchTemplate (frame, templ_, score, config_.match_method);
+      }
       /// Localizing the best match with minMaxLoc
       int remove_margin_x = templ_.cols / 2;
       int remove_margin_y = templ_.rows / 2;
@@ -290,10 +317,16 @@ class MatchTemplateNodelet:public opencv_apps::Nodelet
     pnh_->param ("template_file", templ_file, std::string (""));
     if (!templ_file.empty())
     {
-      NODELET_INFO ("template_file: %s\n", templ_file.c_str());
       templ_ = imread (templ_file, cv::IMREAD_COLOR);
     }
-
+#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2)
+    std::string mask_file;
+    pnh_->param ("mask_file", mask_file, std::string ("mask.png"));
+    if (use_mask_)
+    {
+      mask_ = imread (mask_file, cv::IMREAD_COLOR);
+    }
+#endif
     if (debug_view_)
     {
       always_subscribe_ = true;
@@ -310,6 +343,7 @@ class MatchTemplateNodelet:public opencv_apps::Nodelet
     reconfigure_server_->setCallback (f);
 
     scene_img_pub_ = advertiseImage (*pnh_, "image", 1);
+    // template is global topic, so mouse selection publish it globaly.
     templ_img_pub_ = advertiseImage (*nh_, "template", 1);
     score_img_pub_ = advertiseImage (*pnh_, "score_image", 1);
     msg_pub_ = advertise < geometry_msgs::PointStamped > (*pnh_, "pixel_position", 1);
@@ -318,7 +352,6 @@ class MatchTemplateNodelet:public opencv_apps::Nodelet
     onInitPostProcess ();
   }
 };
-// bool MatchTemplateNodelet::need_config_update_ = false;
 bool MatchTemplateNodelet::mouse_update_ = false;
 int MatchTemplateNodelet::mouse_event_ = 0;
 int MatchTemplateNodelet::mouse_x_ = 0;

diff --git a/test/test-match_template.test b/test/test-match_template.test
@@ -1,44 +1,33 @@
 <launch>
   <arg name="gui" default="true" />
-  <arg name="use_opencv3" default="false" />
-  <arg name="use_opencv3_1" default="false" />
-  <arg name="use_opencv3_2" default="false" />
   <node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
 
   <group ns="wide_stereo/left" >
     <node name="image_proc" pkg="image_proc" type="image_proc" />
-    <node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect" if="$(arg gui)" />
-    <!-- match_template.cpp -->
+    <node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />
+
+    <!-- convex_hull.cpp -->
     <include file="$(find opencv_apps)/launch/match_template.launch" >
       <arg name="debug_view" value="$(arg gui)" />
-      <arg name="image" value="image_raw" />
-      <arg name="template_file" value="$(find opencv_apps)/test/template.png"/>
-      <!--
-      <arg name="use_opencv3" value="$(arg use_opencv3)" />
-      <arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
-      <arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
-      -->
+      <arg name="image" value="image_rect" />
+      <arg name="template_file" value="$(find opencv_apps)/test/template.png" />
+      <arg name="mask_file" value="" />
     </include>
 
     <!-- Test Codes -->
-    <node name="scene_saver" pkg="image_view" type="image_saver">
-      <remap from="image" to="match_template/image" />
-      <param name="filename_format" value="$(find opencv_apps)/test/matched_scene.png"/>
-    </node>
-    <node name="template_saver" pkg="image_view" type="image_saver">
-      <remap from="image" to="match_template/template" />
-      <param name="filename_format" value="$(find opencv_apps)/test/matched_template.png" />
+    <node name="match_template_saver" pkg="image_view" type="image_saver" args="image:=match_template/image" >
+      <param name="filename_format" value="$(find opencv_apps)/test/match_template.png"/>
     </node>
     <param name="image_test/topic" value="match_template/image" />
     <test test-name="image_test" pkg="rostest" type="hztest" name="image_test" >
-      <param name="hz" value="16" />
-      <param name="hzerror" value="14" />
+      <param name="hz" value="20" />
+      <param name="hzerror" value="15" />
       <param name="test_duration" value="5.0" /> 
     </test>
     <param name="score_image_test/topic" value="match_template/score_image" />
     <test test-name="score_image_test" pkg="rostest" type="hztest" name="score_image_test" >
-      <param name="hz" value="16" />
-      <param name="hzerror" value="14" />
+      <param name="hz" value="20" />
+      <param name="hzerror" value="15" />
       <param name="test_duration" value="5.0" /> 
     </test>
   </group>