From b0e571a70da9b26a48ac4c2ca32b364515f97594 Mon Sep 17 00:00:00 2001 From: Ryosuke Tajima Date: Tue, 27 Jun 2017 17:36:51 +0900 Subject: [PATCH 01/10] Add matchTemplate nodelet --- CMakeLists.txt | 3 + cfg/MatchTemplate.cfg | 42 +++++ launch/match_template.launch | 18 ++ nodelet_plugins.xml | 4 + src/nodelet/match_template_nodelet.cpp | 252 +++++++++++++++++++++++++ 5 files changed, 319 insertions(+) create mode 100755 cfg/MatchTemplate.cfg create mode 100644 launch/match_template.launch create mode 100644 src/nodelet/match_template_nodelet.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index fb39261f..2f5115e2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -39,6 +39,7 @@ generate_dynamic_reconfigure_options( cfg/CamShift.cfg cfg/FBackFlow.cfg cfg/LKFlow.cfg + cfg/MatchTemplate.cfg cfg/PeopleDetect.cfg cfg/PhaseCorr.cfg cfg/SegmentObjects.cfg @@ -330,6 +331,8 @@ 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 new file mode 100755 index 00000000..37c7d565 --- /dev/null +++ b/cfg/MatchTemplate.cfg @@ -0,0 +1,42 @@ +#! /usr/bin/env python +# 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 Kei Okada 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. + + +PACKAGE='match_template' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() +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) + +exit(gen.generate(PACKAGE, "match_template", "MatchTemplate")) diff --git a/launch/match_template.launch b/launch/match_template.launch new file mode 100644 index 00000000..de1aa44b --- /dev/null +++ b/launch/match_template.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/nodelet_plugins.xml b/nodelet_plugins.xml index 1ab76dac..3bd95d94 100644 --- a/nodelet_plugins.xml +++ b/nodelet_plugins.xml @@ -67,6 +67,10 @@ Nodelet to calculate Lukas-Kanade optical flow + + Nodelet to find the template on the image + + Nodelet to demonstrate the use of the HoG descriptor diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp new file mode 100644 index 00000000..858af0b5 --- /dev/null +++ b/src/nodelet/match_template_nodelet.cpp @@ -0,0 +1,252 @@ +/********************************************************************* +* 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 +#include "opencv_apps/nodelet.h" +#include +#include +#include + +#include +#include +#include + +#include +#include "opencv_apps/MatchTemplateConfig.h" +#include "opencv_apps/RectArrayStamped.h" + +namespace match_template +{ + class MatchTemplateNodelet:public opencv_apps::Nodelet + { + image_transport::Publisher img_pub_; + image_transport::Publisher matched_img_pub_; + image_transport::Subscriber img_sub_; + image_transport::CameraSubscriber cam_sub_; + ros::Publisher msg_pub_; + + boost::shared_ptr < image_transport::ImageTransport > it_; + + typedef match_template::MatchTemplateConfig Config; + typedef dynamic_reconfigure::Server < Config > ReconfigureServer; + Config config_; + boost::shared_ptr < ReconfigureServer > reconfigure_server_; + + bool debug_view_; + int match_method_; + bool use_mask_; + + ros::Time prev_stamp_; + + cv::Mat templ_; + cv::Mat mask_; + + void reconfigureCallback (Config & new_config, uint32_t level) + { + config_ = new_config; + } + + const std::string & frameWithDefault (const std::string & frame, const std::string & image_frame) + { + if (frame.empty ()) + return image_frame; + return frame; + } + + void imageCallbackWithInfo (const sensor_msgs::ImageConstPtr & msg, + const sensor_msgs::CameraInfoConstPtr & cam_info) + { + do_work (msg, cam_info->header.frame_id); + } + + void imageCallback (const sensor_msgs::ImageConstPtr & msg) + { + do_work (msg, msg->header.frame_id); + } + + void do_work (const sensor_msgs::ImageConstPtr & msg, const std::string input_frame_from_msg) + { + // Work on the image. + try + { + // Convert the image into something opencv can handle. + cv::Mat frame = cv_bridge::toCvShare (msg, sensor_msgs::image_encodings::BGR8)->image; + // Messages + opencv_apps::RectArrayStamped rects_msg; + rects_msg.header = msg->header; + + /// Create the result matrix + int result_cols = frame.cols - templ_.cols + 1; + int result_rows = frame.rows - templ_.rows + 1; + cv::Mat result (result_rows, result_cols, CV_32FC1); + + //-- Show template + if (debug_view_) + { + cv::imshow ("Template", templ_); + int c = cv::waitKey (1); + } + + //! [match_template] + /// Do the Matching and Normalize + bool method_accepts_mask = (match_method_ == CV_TM_SQDIFF || match_method_ == CV_TM_CCORR_NORMED); + if (use_mask_ && method_accepts_mask) + { + matchTemplate (frame, templ_, result, match_method_, mask_); + } + else + { + matchTemplate (frame, templ_, result, match_method_); + } + //! [normalize] + //normalize (result, result, 0, 255, cv::NORM_MINMAX, CV_8UC1, cv::Mat ()); + normalize (result, result, 0, 255, cv::NORM_MINMAX, CV_8UC1, cv::Mat ()); + + //! [best_match] + /// Localizing the best match with minMaxLoc + double minVal; + double maxVal; + cv::Point minLoc; + cv::Point maxLoc; + cv::Point matchLoc; + + cv::minMaxLoc (result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat ()); + //! [match_loc] + /// For SQDIFF and SQDIFF_NORMED, the best matches are lower values. For all the other methods, the higher the better + if (match_method_ == CV_TM_SQDIFF || match_method_ == CV_TM_SQDIFF_NORMED || match_method_ == CV_TM_CCORR) + { + matchLoc = minLoc; + } + else + { + matchLoc = maxLoc; + } + rectangle (frame, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows), cv::Scalar::all (0), + 2, 8, 0); + rectangle (result, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows), + cv::Scalar::all (0), 2, 8, 0); + + // Publish the image. + sensor_msgs::Image::Ptr out_img = + cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::BGR8, frame).toImageMsg (); + sensor_msgs::Image::Ptr match_img = + cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::MONO8, result).toImageMsg (); + img_pub_.publish (out_img); + matched_img_pub_.publish (match_img); + } + catch (cv::Exception & e) + { + NODELET_ERROR ("Image processing error: %s %s %s %i", e.err.c_str (), e.func.c_str (), e.file.c_str (), e.line); + } + + prev_stamp_ = msg->header.stamp; + } + + void subscribe () + { + NODELET_INFO ("Subscribing to image topic."); + if (config_.use_camera_info) + cam_sub_ = it_->subscribeCamera ("image", 3, &MatchTemplateNodelet::imageCallbackWithInfo, this); + else + img_sub_ = it_->subscribe ("image", 3, &MatchTemplateNodelet::imageCallback, this); + } + + void unsubscribe () + { + NODELET_DEBUG ("Unsubscribing from image topic."); + img_sub_.shutdown (); + cam_sub_.shutdown (); + } + + public: + virtual void onInit () + { + Nodelet::onInit (); + it_ = boost::shared_ptr < image_transport::ImageTransport > (new image_transport::ImageTransport (*nh_)); + + pnh_->param ("debug_view", debug_view_, false); + pnh_->param ("match_method", match_method_, (int) CV_TM_SQDIFF); + pnh_->param ("use_mask", use_mask_, false); + std::string templ_file, mask_file; + pnh_->param ("template_file", templ_file, std::string ("template.png")); + pnh_->param ("mask_file", mask_file, std::string ("mask.png")); + + NODELET_INFO ("template_file: %s", templ_file.c_str ()); + + if (debug_view_) + { + always_subscribe_ = true; + } + if (use_mask_) + { + mask_ = imread (mask_file, cv::IMREAD_COLOR); + } + if (templ_file.empty ()) + { + NODELET_ERROR ("Cannot open template file %s", templ_file.c_str ()); + exit (0); + } + //templ_ = imread(templ_file, cv::IMREAD_COLOR); + templ_ = imread (templ_file, cv::IMREAD_COLOR); + + if (debug_view_) + { + cv::imshow ("Match Template", templ_); + int c = cv::waitKey (1); + } + prev_stamp_ = ros::Time (0, 0); + + reconfigure_server_ = boost::make_shared < dynamic_reconfigure::Server < Config > >(*pnh_); + dynamic_reconfigure::Server < Config >::CallbackType f = + boost::bind (&MatchTemplateNodelet::reconfigureCallback, this, _1, _2); + reconfigure_server_->setCallback (f); + + img_pub_ = advertiseImage (*pnh_, "image", 1); + matched_img_pub_ = advertiseImage (*pnh_, "matched_image", 1); + msg_pub_ = advertise < opencv_apps::RectArrayStamped > (*pnh_, "matched_rectangle", 1); + + onInitPostProcess (); + } + }; +} + +#include +PLUGINLIB_EXPORT_CLASS (match_template::MatchTemplateNodelet, nodelet::Nodelet); From 79f8ecee6cdfd12b768404ed9bded1141b72a103 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 16:09:36 +0900 Subject: [PATCH 02/10] matchTemplate: check opencv version, matchTemplate with mask is only suppreted >= 3.2 --- src/nodelet/match_template_nodelet.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index 858af0b5..e00f5050 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -72,12 +72,16 @@ namespace match_template bool debug_view_; int match_method_; +#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2) // mask is only supported since opencv 3.2 (https://github.com/opencv/opencv/pull/3554) bool use_mask_; +#endif ros::Time prev_stamp_; cv::Mat templ_; +#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2) cv::Mat mask_; +#endif void reconfigureCallback (Config & new_config, uint32_t level) { @@ -128,11 +132,13 @@ namespace match_template //! [match_template] /// Do the Matching and Normalize bool method_accepts_mask = (match_method_ == CV_TM_SQDIFF || match_method_ == CV_TM_CCORR_NORMED); +#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2) if (use_mask_ && method_accepts_mask) { matchTemplate (frame, templ_, result, match_method_, mask_); } else +#endif { matchTemplate (frame, templ_, result, match_method_); } @@ -204,10 +210,15 @@ namespace match_template pnh_->param ("debug_view", debug_view_, false); pnh_->param ("match_method", match_method_, (int) CV_TM_SQDIFF); +#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2) pnh_->param ("use_mask", use_mask_, false); - std::string templ_file, mask_file; +#endif + std::string templ_file; pnh_->param ("template_file", templ_file, std::string ("template.png")); +#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2) + std::string mask_file; pnh_->param ("mask_file", mask_file, std::string ("mask.png")); +#endif NODELET_INFO ("template_file: %s", templ_file.c_str ()); @@ -215,10 +226,12 @@ namespace match_template { always_subscribe_ = true; } +#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2) if (use_mask_) { mask_ = imread (mask_file, cv::IMREAD_COLOR); } +#endif if (templ_file.empty ()) { NODELET_ERROR ("Cannot open template file %s", templ_file.c_str ()); From 082e094661558142248b8732ceddcdf3d0901a3a Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 16:18:14 +0900 Subject: [PATCH 03/10] CMakeLists.txt move opencv_apps_add_nodlet location --- CMakeLists.txt | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2f5115e2..e1f8e197 100644 --- 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} From f38331d01eba265af82bdeeab16b6ea21245a21d Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 19:42:28 +0900 Subject: [PATCH 04/10] match_template_nodelet.cpp, show error when iread fails --- src/nodelet/match_template_nodelet.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index e00f5050..c24f7298 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -232,13 +232,12 @@ namespace match_template mask_ = imread (mask_file, cv::IMREAD_COLOR); } #endif - if (templ_file.empty ()) + templ_ = imread (templ_file, cv::IMREAD_COLOR); + if (!templ_.data) { - NODELET_ERROR ("Cannot open template file %s", templ_file.c_str ()); - exit (0); + NODELET_ERROR ("Cannot open template file (%s)", templ_file.c_str ()); + exit (-1); } - //templ_ = imread(templ_file, cv::IMREAD_COLOR); - templ_ = imread (templ_file, cv::IMREAD_COLOR); if (debug_view_) { From e45deba0059ab13fddc4ef529c1dabcf7527904f Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 19:43:30 +0900 Subject: [PATCH 05/10] show template and result --- src/nodelet/match_template_nodelet.cpp | 21 +++++++++------------ 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index c24f7298..43f70b10 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -122,13 +122,6 @@ namespace match_template int result_rows = frame.rows - templ_.rows + 1; cv::Mat result (result_rows, result_cols, CV_32FC1); - //-- Show template - if (debug_view_) - { - cv::imshow ("Template", templ_); - int c = cv::waitKey (1); - } - //! [match_template] /// Do the Matching and Normalize bool method_accepts_mask = (match_method_ == CV_TM_SQDIFF || match_method_ == CV_TM_CCORR_NORMED); @@ -170,6 +163,15 @@ namespace match_template rectangle (result, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows), cv::Scalar::all (0), 2, 8, 0); + //-- Show template and result + if (debug_view_) + { + cv::imshow ("Template", templ_); + cv::imshow ("Soure Image", frame); + cv::imshow ("Result window", result); + int c = cv::waitKey (1); + } + // Publish the image. sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::BGR8, frame).toImageMsg (); @@ -239,11 +241,6 @@ namespace match_template exit (-1); } - if (debug_view_) - { - cv::imshow ("Match Template", templ_); - int c = cv::waitKey (1); - } prev_stamp_ = ros::Time (0, 0); reconfigure_server_ = boost::make_shared < dynamic_reconfigure::Server < Config > >(*pnh_); From 8205cad9a724b821c4002cd827c51ce4495a2b8a Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 19:47:45 +0900 Subject: [PATCH 06/10] match_template_nodelet.cpp: fix show rectanlge on result image --- src/nodelet/match_template_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index 43f70b10..69a5e742 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -160,7 +160,7 @@ namespace match_template } rectangle (frame, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows), cv::Scalar::all (0), 2, 8, 0); - rectangle (result, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows), + rectangle (result, cv::Point (matchLoc.x - templ_.cols/2, matchLoc.y - templ_.rows/2), cv::Point (matchLoc.x + templ_.cols/2, matchLoc.y + templ_.rows/2), cv::Scalar::all (0), 2, 8, 0); //-- Show template and result From 35bcd7760fa0c23c00a47ab916979bf8a1a04fca Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 20:24:52 +0900 Subject: [PATCH 07/10] match_template_nodelet.cpp: publish and display matched value --- src/nodelet/match_template_nodelet.cpp | 20 +++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index 69a5e742..0855b50b 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -52,6 +52,7 @@ #include #include "opencv_apps/MatchTemplateConfig.h" #include "opencv_apps/RectArrayStamped.h" +#include namespace match_template { @@ -61,6 +62,7 @@ namespace match_template image_transport::Publisher matched_img_pub_; image_transport::Subscriber img_sub_; image_transport::CameraSubscriber cam_sub_; + ros::Publisher matched_val_pub_; ros::Publisher msg_pub_; boost::shared_ptr < image_transport::ImageTransport > it_; @@ -135,14 +137,12 @@ namespace match_template { matchTemplate (frame, templ_, result, match_method_); } - //! [normalize] - //normalize (result, result, 0, 255, cv::NORM_MINMAX, CV_8UC1, cv::Mat ()); - normalize (result, result, 0, 255, cv::NORM_MINMAX, CV_8UC1, cv::Mat ()); //! [best_match] /// Localizing the best match with minMaxLoc double minVal; double maxVal; + double matchVal; cv::Point minLoc; cv::Point maxLoc; cv::Point matchLoc; @@ -153,13 +153,23 @@ namespace match_template if (match_method_ == CV_TM_SQDIFF || match_method_ == CV_TM_SQDIFF_NORMED || match_method_ == CV_TM_CCORR) { matchLoc = minLoc; + matchVal = minVal; } else { matchLoc = maxLoc; + matchVal = maxVal; } + NODELET_DEBUG_STREAM(std::fixed << std::setw(12) << minVal << " " << maxVal << " min " << matchVal); + + //! [normalize] for visualization + normalize (result, result, 0, 255, cv::NORM_MINMAX, CV_8UC1, cv::Mat ()); + rectangle (frame, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows), cv::Scalar::all (0), 2, 8, 0); + std::stringstream ss; + ss << std::fixed << std::setw(12) << std::setprecision(0) << matchVal; + cv::putText(frame, ss.str(), cv::Point(0,20), cv::FONT_HERSHEY_PLAIN, 1.5, cv::Scalar(255.0, 255.0, 255.0), 1, CV_AA); rectangle (result, cv::Point (matchLoc.x - templ_.cols/2, matchLoc.y - templ_.rows/2), cv::Point (matchLoc.x + templ_.cols/2, matchLoc.y + templ_.rows/2), cv::Scalar::all (0), 2, 8, 0); @@ -179,6 +189,9 @@ namespace match_template cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::MONO8, result).toImageMsg (); img_pub_.publish (out_img); matched_img_pub_.publish (match_img); + std_msgs::Float64 matched_val_msg; + matched_val_msg.data = matchVal; + matched_val_pub_.publish (matched_val_msg); } catch (cv::Exception & e) { @@ -250,6 +263,7 @@ namespace match_template img_pub_ = advertiseImage (*pnh_, "image", 1); matched_img_pub_ = advertiseImage (*pnh_, "matched_image", 1); + matched_val_pub_ = advertise< std_msgs::Float64 > (*pnh_, "matched_value", 1); msg_pub_ = advertise < opencv_apps::RectArrayStamped > (*pnh_, "matched_rectangle", 1); onInitPostProcess (); From 3624f77491636e1e66dec4781b46b168e867d717 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 20:35:42 +0900 Subject: [PATCH 08/10] match_template_nodelet.cpp: publish result rectangle --- src/nodelet/match_template_nodelet.cpp | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index 0855b50b..a1ebb33e 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -63,7 +63,7 @@ namespace match_template image_transport::Subscriber img_sub_; image_transport::CameraSubscriber cam_sub_; ros::Publisher matched_val_pub_; - ros::Publisher msg_pub_; + ros::Publisher matched_rect_pub_; boost::shared_ptr < image_transport::ImageTransport > it_; @@ -189,6 +189,18 @@ namespace match_template cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::MONO8, result).toImageMsg (); img_pub_.publish (out_img); matched_img_pub_.publish (match_img); + + // Publish the result. + opencv_apps::RectArrayStamped matched_rect_msg; + matched_rect_msg.header = msg->header; + opencv_apps::Rect rect_msg; + rect_msg.x = matchLoc.x; + rect_msg.y = matchLoc.y; + rect_msg.width = templ_.cols; + rect_msg.height = templ_.rows; + matched_rect_msg.rects.push_back(rect_msg); + matched_rect_pub_.publish (matched_rect_msg); + std_msgs::Float64 matched_val_msg; matched_val_msg.data = matchVal; matched_val_pub_.publish (matched_val_msg); @@ -264,7 +276,7 @@ namespace match_template img_pub_ = advertiseImage (*pnh_, "image", 1); matched_img_pub_ = advertiseImage (*pnh_, "matched_image", 1); matched_val_pub_ = advertise< std_msgs::Float64 > (*pnh_, "matched_value", 1); - msg_pub_ = advertise < opencv_apps::RectArrayStamped > (*pnh_, "matched_rectangle", 1); + matched_rect_pub_ = advertise < opencv_apps::RectArrayStamped > (*pnh_, "matched_rectangle", 1); onInitPostProcess (); } From 8682b4287c2a17351332befdd614a6a9be65fc67 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 20:54:04 +0900 Subject: [PATCH 09/10] match_template_nodelet.cpp: enable to select mathing method from rqt_reconfigure --- cfg/MatchTemplate.cfg | 8 ++++++++ src/nodelet/match_template_nodelet.cpp | 4 ++++ 2 files changed, 12 insertions(+) diff --git a/cfg/MatchTemplate.cfg b/cfg/MatchTemplate.cfg index 37c7d565..17c95794 100755 --- a/cfg/MatchTemplate.cfg +++ b/cfg/MatchTemplate.cfg @@ -38,5 +38,13 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() 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) +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", 0, 0, 5, edit_method=match_type) exit(gen.generate(PACKAGE, "match_template", "MatchTemplate")) diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index a1ebb33e..fa345ce0 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -88,6 +88,10 @@ namespace match_template void reconfigureCallback (Config & new_config, uint32_t level) { config_ = new_config; + if ( match_method_ != config_.match_method ) { + match_method_ = config_.match_method; + NODELET_WARN_STREAM("Change Mathing Method to " << match_method_); + } } const std::string & frameWithDefault (const std::string & frame, const std::string & image_frame) From 905b3db3ca4cb2274b0eb1759bbe4288107dcbc5 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 11 Jul 2017 20:57:17 +0900 Subject: [PATCH 10/10] add test/test-match-template.test --- launch/match_template.launch | 6 ++++-- test/test-match_template.test | 28 ++++++++++++++++++++++++++++ 2 files changed, 32 insertions(+), 2 deletions(-) create mode 100644 test/test-match_template.test diff --git a/launch/match_template.launch b/launch/match_template.launch index de1aa44b..6eb71532 100644 --- a/launch/match_template.launch +++ b/launch/match_template.launch @@ -4,6 +4,8 @@ + + @@ -12,7 +14,7 @@ - - + + diff --git a/test/test-match_template.test b/test/test-match_template.test new file mode 100644 index 00000000..921f0b74 --- /dev/null +++ b/test/test-match_template.test @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + +