From 2e5f4fecc66353e0d4631826e064b7a37da73b9e Mon Sep 17 00:00:00 2001 From: Ryosuke Tajima Date: Tue, 18 Jul 2017 12:19:11 +0900 Subject: [PATCH] Add rostest for match_template - Test using face_detector_withface_test_diamondback.bag - Dynamic reconfigure for match_threshold - Chnage to match only one in the scene image - Change to use camera_info to publish gaze_vector --- CMakeLists.txt | 2 +- cfg/MatchTemplate.cfg | 1 + launch/match_template.launch | 9 +- src/nodelet/match_template_nodelet.cpp | 522 +++++++++++++------------ test/CMakeLists.txt | 2 + test/template.png | Bin 0 -> 5087 bytes test/test-match_template.test | 45 +++ 7 files changed, 331 insertions(+), 250 deletions(-) create mode 100644 test/template.png create mode 100644 test/test-match_template.test diff --git a/CMakeLists.txt b/CMakeLists.txt index 2f5115e2..de6cbf74 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(opencv_apps) -find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp sensor_msgs) +find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport image_geometry nodelet roscpp sensor_msgs) find_package(OpenCV REQUIRED) message(STATUS "OpenCV VERSION: ${OpenCV_VERSION}") diff --git a/cfg/MatchTemplate.cfg b/cfg/MatchTemplate.cfg index 8eec3478..4dc2e861 100755 --- a/cfg/MatchTemplate.cfg +++ b/cfg/MatchTemplate.cfg @@ -48,5 +48,6 @@ method_enum = gen.enum([ gen.const("TM_SQDIFF", int_t, 0, "TM_SQDIFF"), 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) exit(gen.generate(PACKAGE, "match_template", "MatchTemplate")) diff --git a/launch/match_template.launch b/launch/match_template.launch index de1aa44b..a68ee82e 100644 --- a/launch/match_template.launch +++ b/launch/match_template.launch @@ -2,8 +2,9 @@ - - + + + @@ -12,7 +13,7 @@ - - + + diff --git a/src/nodelet/match_template_nodelet.cpp b/src/nodelet/match_template_nodelet.cpp index 38d8044a..a5c6e866 100644 --- a/src/nodelet/match_template_nodelet.cpp +++ b/src/nodelet/match_template_nodelet.cpp @@ -1,297 +1,329 @@ /********************************************************************* -* 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 -#include "opencv_apps/nodelet.h" -#include -#include -#include - #include #include #include -#include +#include +#include +#include +#include +#include "dynamic_reconfigure/server.h" +#include "opencv_apps/nodelet.h" #include "opencv_apps/MatchTemplateConfig.h" #include "opencv_apps/RectArrayStamped.h" +#include "sensor_msgs/image_encodings.h" #include "geometry_msgs/PointStamped.h" +#include "geometry_msgs/Vector3Stamped.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_; - image_transport::Subscriber template_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_; +class MatchTemplateNodelet:public opencv_apps::Nodelet +{ + image_transport::Subscriber scene_img_sub_, templ_img_sub_; + image_transport::Publisher scene_img_pub_, templ_img_pub_, score_img_pub_; + image_transport::CameraSubscriber scene_cam_sub_; + ros::Publisher msg_pub_, gaze_vector_pub_; - bool debug_view_; - // int match_method_; - bool use_mask_; + boost::shared_ptr < image_transport::ImageTransport > it_; - ros::Time prev_stamp_; + typedef match_template::MatchTemplateConfig Config; + typedef dynamic_reconfigure::Server < Config > ReconfigureServer; + Config config_; + boost::shared_ptr < ReconfigureServer > reconfigure_server_; - cv::Mat templ_; - cv::Mat mask_; + image_geometry::PinholeCameraModel model_; - void reconfigureCallback (Config & new_config, uint32_t level) - { - config_ = new_config; - } + bool debug_view_; + ros::Time prev_stamp_; + cv::Mat templ_; - const std::string & frameWithDefault (const std::string & frame, const std::string & image_frame) - { - if (frame.empty ()) - return image_frame; - return frame; - } + std::string scene_window_name_, templ_window_name_; + static bool mouse_update_; + static int mouse_event_; + static int mouse_x_; + static int mouse_y_; + static bool mouse_selecting_; + cv::Rect mouse_rect_; - void imageCallbackWithInfo (const sensor_msgs::ImageConstPtr & msg, - const sensor_msgs::CameraInfoConstPtr & cam_info) - { - do_work (msg, cam_info->header.frame_id); - } + void reconfigureCallback (Config & new_config, uint32_t level) + { + config_ = new_config; + } + void imageCallbackWithInfo (const sensor_msgs::ImageConstPtr & msg, + const sensor_msgs::CameraInfoConstPtr & cam_info) + { + model_.fromCameraInfo(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 imageCallback (const sensor_msgs::ImageConstPtr & msg) + { + do_work (msg, msg->header.frame_id); + } - void templateCallback (const sensor_msgs::ImageConstPtr & msg) - { - templ_ = cv_bridge::toCvCopy (msg, sensor_msgs::image_encodings::BGR8)->image; - } - - void do_work (const sensor_msgs::ImageConstPtr & msg, const std::string input_frame_from_msg) + void templateCallback (const sensor_msgs::ImageConstPtr & msg) + { + templ_ = cv_bridge::toCvCopy (msg, sensor_msgs::image_encodings::BGR8)->image; + } + + static void onMouse( int event, int x, int y, int, void* ) + { + mouse_update_ = true; + mouse_event_ = event; + mouse_x_ = x; + mouse_y_ = y; + } + + void do_work (const sensor_msgs::ImageConstPtr & msg, const std::string input_frame_from_msg) + { + // Work on the image. + try { - // 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 score matrix + int score_cols = frame.cols - templ_.cols + 1; + int score_rows = frame.rows - templ_.rows + 1; + cv::Mat score (score_rows, score_cols, CV_32FC1); + + /// Debug View + if (debug_view_) + { + cv::namedWindow( scene_window_name_, cv::WINDOW_AUTOSIZE ); + cv::namedWindow( templ_window_name_, cv::WINDOW_AUTOSIZE ); + cv::setMouseCallback( scene_window_name_, onMouse, 0 ); + //cv::imshow (scene_window_name_, frame); + cv::imshow (templ_window_name_, templ_); + int c = cv::waitKey (1); + } + if (mouse_update_ ) { - // 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_) + if( mouse_selecting_ ) { - cv::imshow ("Image", frame); - cv::imshow ("Template", templ_); - int c = cv::waitKey (1); + mouse_rect_.x = MIN(mouse_x_, mouse_rect_.x); + mouse_rect_.y = MIN(mouse_y_, mouse_rect_.y); + mouse_rect_.width = std::abs(mouse_x_ - mouse_rect_.x); + mouse_rect_.height = std::abs(mouse_y_ - mouse_rect_.y); + mouse_rect_ &= cv::Rect(0, 0, frame.cols, frame.rows); } - - //! [match_template] - /// Do the Matching and Normalize - //bool method_accepts_mask = (match_method_ == CV_TM_SQDIFF || match_method_ == CV_TM_CCORR_NORMED); - bool method_accepts_mask = (config_.match_method == CV_TM_SQDIFF || config_.match_method == CV_TM_CCORR_NORMED); - if (use_mask_ && method_accepts_mask) + switch( mouse_event_ ) { - matchTemplate (frame, templ_, result, config_.match_method, mask_); + case cv::EVENT_LBUTTONDOWN: + mouse_rect_ = cv::Rect(mouse_x_, mouse_y_, 0, 0); + mouse_selecting_ = true; + break; + case cv::EVENT_LBUTTONUP: + mouse_selecting_ = false; + if( mouse_rect_.width > 0 && mouse_rect_.height > 0 ) + { + // publish template image + sensor_msgs::Image::Ptr templ_img_msg = cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::BGR8, frame(mouse_rect_)).toImageMsg (); + templ_img_pub_.publish (templ_img_msg); + //templ_ = frame(mouse_rect_).clone(); + } + break; } - else + mouse_update_ = false; + } + // Match template + 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; + + bool template_found = true; + double minVal, maxVal; + cv::Point minLoc, maxLoc, matchLoc; + + // Find top score position from image + cv::minMaxLoc (score, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat()); + /// In some methods, lower score is better. + if (config_.match_method == CV_TM_SQDIFF || config_.match_method == CV_TM_SQDIFF_NORMED || config_.match_method == CV_TM_CCORR) + { + matchLoc = minLoc; + // Check threshold value + if (minVal > config_.match_threshold) { - matchTemplate (frame, templ_, result, config_.match_method); + template_found = false; } - //! [normalize] - 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; - bool is_top = true; - int remove_margin_x = templ_.cols / 2; - int remove_margin_y = templ_.rows / 2; - - // find top 10 position from image - for (int i=0; i<3; i++) { - cv::minMaxLoc (result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat ()); - NODELET_INFO ("min_val, max_val = %f %f", double(minVal), double(maxVal)); - //! [match_loc] - /// For SQDIFF and SQDIFF_NORMED, the best matches are lower values. For all the other methods, the higher the better - if (config_.match_method == CV_TM_SQDIFF || config_.match_method == CV_TM_SQDIFF_NORMED || config_.match_method == CV_TM_CCORR) - { - matchLoc = minLoc; - // remove matched region with some margin - rectangle (result, - cv::Point(matchLoc.x - remove_margin_x, - matchLoc.y - remove_margin_y), - cv::Point(matchLoc.x + remove_margin_x, - matchLoc.y + remove_margin_y), - 255, -1, 8, 0); - } - else - { - matchLoc = maxLoc; - // remove matched region - rectangle (result, - cv::Point(matchLoc.x - remove_margin_x, - matchLoc.y - remove_margin_y), - cv::Point(matchLoc.x + remove_margin_x, - matchLoc.y + remove_margin_y), - 0, -1, 8, 0); - } - if (is_top) - { - rectangle (frame, matchLoc, cv::Point (matchLoc.x + templ_.cols, - matchLoc.y + templ_.rows), - cv::Scalar(0, 0, 255), 4, 8, 0); - is_top = false; - } - else - { - rectangle (frame, matchLoc, cv::Point (matchLoc.x + templ_.cols, - matchLoc.y + templ_.rows), - cv::Scalar(0, 255, 0), 2, 8, 0); - } + } + else + { + matchLoc = maxLoc; + // check threshold value + if (maxVal < config_.match_threshold) + { + template_found = false; } + } + if (template_found) + { + rectangle (frame, matchLoc, + cv::Point (matchLoc.x + templ_.cols, + matchLoc.y + templ_.rows), cv::Scalar (0, 0, 255), 4, 8, 0); + } + // Publish the rectangle drawn image + sensor_msgs::Image::Ptr match_img = + cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::BGR8, frame).toImageMsg (); + scene_img_pub_.publish (match_img); - // 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); - - // Publish the point on the image - geometry_msgs::PointStamped point; - point.header.stamp = ros::Time::now (); - point.header.frame_id = input_frame_from_msg; - point.point.x = matchLoc.x + templ_.cols / 2; - point.point.y = matchLoc.y + templ_.rows / 2; - point.point.z = 0; - msg_pub_.publish (point); + // Publish the monochrome score image + normalize (score, score, 0, 255, cv::NORM_MINMAX, CV_8UC1, cv::Mat ()); + sensor_msgs::Image::Ptr score_img = + cv_bridge::CvImage (msg->header, sensor_msgs::image_encodings::MONO8, score).toImageMsg (); + score_img_pub_.publish (score_img); - } - catch (cv::Exception & e) + if (debug_view_) { - NODELET_ERROR ("Image processing error: %s %s %s %i", e.err.c_str (), e.func.c_str (), e.file.c_str (), e.line); + if (mouse_selecting_) + { + cv::Mat roi(frame, mouse_rect_); + bitwise_not(roi, roi); + } + cv::imshow (scene_window_name_, frame); } - prev_stamp_ = msg->header.stamp; - } + // Publish the point on the image + geometry_msgs::PointStamped point; + point.header.stamp = ros::Time::now (); + point.header.frame_id = input_frame_from_msg; + point.point.x = matchLoc.x + templ_.cols / 2; + point.point.y = matchLoc.y + templ_.rows / 2; + point.point.z = 0; - void subscribe () - { - NODELET_INFO ("Subscribing to image topic."); + msg_pub_.publish (point); + + // Publish the gaze vector if (config_.use_camera_info) - cam_sub_ = it_->subscribeCamera ("image", 3, &MatchTemplateNodelet::imageCallbackWithInfo, this); - else - img_sub_ = it_->subscribe ("image", 3, &MatchTemplateNodelet::imageCallback, this); + { + cv::Point center; + center.x = matchLoc.x + templ_.cols / 2; + center.y = matchLoc.y + templ_.rows / 2; + cv::Point3d ray = model_.projectPixelTo3dRay (center); + geometry_msgs::Vector3Stamped gaze_vector; + gaze_vector.header.stamp = ros::Time::now (); + gaze_vector.header.frame_id = input_frame_from_msg; + gaze_vector.vector.x = ray.x; + gaze_vector.vector.y = ray.y; + gaze_vector.vector.z = ray.z; + gaze_vector_pub_.publish (gaze_vector); + } - template_sub_ = it_->subscribe ("template", 3, &MatchTemplateNodelet::templateCallback, this); - } - - void unsubscribe () + catch (cv::Exception & e) { - NODELET_DEBUG ("Unsubscribing from image topic."); - img_sub_.shutdown (); - cam_sub_.shutdown (); - template_sub_.shutdown (); + NODELET_ERROR ("Image processing error: %s %s %s %i", e.err.c_str (), e.func.c_str (), e.file.c_str (), e.line); } - public: - virtual void onInit () + prev_stamp_ = msg->header.stamp; + } + + void subscribe () + { + if (config_.use_camera_info) { - Nodelet::onInit (); - it_ = boost::shared_ptr < image_transport::ImageTransport > (new image_transport::ImageTransport (*nh_)); + scene_cam_sub_ = it_->subscribeCamera ("image", 3, &MatchTemplateNodelet::imageCallbackWithInfo, this); + } + else + { + scene_img_sub_ = it_->subscribe ("image", 3, &MatchTemplateNodelet::imageCallback, this); + } + templ_img_sub_ = it_->subscribe ("template", 3, &MatchTemplateNodelet::templateCallback, this); + } - 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")); + void unsubscribe () + { + NODELET_DEBUG ("Unsubscribing from image topic."); + scene_img_sub_.shutdown (); + scene_cam_sub_.shutdown (); + templ_img_sub_.shutdown (); + } + +public: + virtual void onInit () + { + Nodelet::onInit (); + it_ = boost::shared_ptr < image_transport::ImageTransport > (new image_transport::ImageTransport (*nh_)); - NODELET_INFO ("template_file: %s", templ_file.c_str ()); + pnh_->param ("debug_view", debug_view_, true); - 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_ = cv::Mat(1,1, CV_8UC3); + std::string templ_file; + 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); + } - 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 < geometry_msgs::PointStamped > (*pnh_, "pixel_position", 1); - - onInitPostProcess (); + if (debug_view_) + { + always_subscribe_ = true; } - }; + + scene_window_name_ = "Scene Image"; + templ_window_name_ = "Template Image"; + + 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); + + scene_img_pub_ = advertiseImage (*pnh_, "image", 1); + 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); + gaze_vector_pub_ = advertise < geometry_msgs::Vector3Stamped > (*pnh_, "gaze_vector", 1); + + onInitPostProcess (); + } +}; +// bool MatchTemplateNodelet::need_config_update_ = false; +bool MatchTemplateNodelet::mouse_update_ = false; +int MatchTemplateNodelet::mouse_event_ = 0; +int MatchTemplateNodelet::mouse_x_ = 0; +int MatchTemplateNodelet::mouse_y_ = 0; +bool MatchTemplateNodelet::mouse_selecting_ = false; } #include diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 8d0e7b23..8f5b9866 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -69,6 +69,8 @@ add_rostest(test-watershed_segmentation.test ARGS gui:=false) add_rostest(test-simple_example.test ARGS gui:=false) add_rostest(test-simple_compressed_example.test ARGS gui:=false) +add_rostest(test-match_template.test ARGS gui:=false) + if(roslaunch_VERSION VERSION_LESS "1.11.1") message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}") else() diff --git a/test/template.png b/test/template.png new file mode 100644 index 0000000000000000000000000000000000000000..f7d22cacd5223709b85ce94c4f00e773a55e3949 GIT binary patch literal 5087 zcmV<56Cmt~P)XhM zkLx$cjO2r4rX_c|T<&EEU;*^Cx~j4=Gs2G^vhW`!9;-5|BHaDBA3q-Um*4)cfBwgR z`llaWfbrpFSZ@E}yUTz0pTB6|{-QN8FGGf8Cc^>DKr#SH#QCZDE3-flnqL<&eJJDm z|M&Y3|NQ&+6`;0O_os*5>EYvF^Zrx5xB*_jyM5g?`Qub}7BLD?k{@A7ToQpY=U>DG zauoAkP#}cD5(>^+t3qIyn^p69LoPGbBNNmm+yj`Dz{6~COJ;)u49?Q>$EU}aV?-7} zn5|u-*JrelLi5}7J1zIxNgL@tfVfiJRW5^v;5PJGfNm6@WpCh1o8Poqmw+v{RMmy1 zA>uh`4DiNP%~xg%vz^<<09%-1cEFEm<-_CS7-1EFWIC9w+%Jp>Il#j~5AS!U^ZkEcfB!e{fMgfBQQ5~hsjPxy0#uQkPDXEJ zV>Eyf7UV;T=@f8wnJyE#@!oBXRDt_8e*bXX{pNYs)Of75tw7z?(nY+~=!$kVmI1_3 zwIltJbd&0D^X*Lmx~;sZtTjZ`r=WF!?5e1fmWf@WrL`|aYkPNn)q1yTw>jrKh9Y7tGU z9)Nf9N^kVfi!>w-4sh*MaS>|7(bO7XtAcm34t#sRBlhMucVXmbu1 z4S>Z!94GS8$1T7ZbSXEhWhSS^1lZBy)_jv}aBEBjfGc#_^X1V#RZqqCXP3pFhVg#v zpU0-Y*=&C9rYWzR{X>>fVPwo14y}Isz@{mri%`S{0 zI#C_Cxoy_}<4s-WdRKKFx))$K*aP;)?6d5(_-ue~O%L*Ku=`c_?JC;_kf9=NRhQBU zd`@@@)yO3}{FHOo0%^50x6GnRb=|51(lYs-+YxI}DBOV>O?~rbJieaZ)v_<;9e`fo z=dMTRr`4XTedmDpp5Bp83 z(tupeeqwg%6w%b!e+DXF%3tcVsi)6n*wo=3AhOk7N{Xp^S8W7nUs>}9Z*RQax7>Er z4zP=sX)3F+w#PU`Z4FRzWHiQ7HiWwXYq1|A>}ido>2$`e-(Mn~5K4`KHtl2BdE-eJJs^=zZP4s{6kJEN->j<$9CiWqtF@_07!&XsV))lT9e}(4{rsh+yQA~MeNkt? zQnq;2s#(SL@#Dks3RR{gu@{@t%9VDlX7tv?h$=*V%>5&YX<08VaHreb}t(3y=Ftg%cVN~Lxch)H@K z+DgZ1x~ix32%HY}G!{F`+A51E0Qre@D67q3`QbR;9VeZDbf{J|95vZE?DBCp0Zop! zVQiTe)%wXi0dAQouxgzczxERCoYj}1p~NWwa`>ItMO;nw&qKKzfkLVMs2DjYq?iO0 zS32#>vmK9dP>pE>25LD*j1kIpI}|TKRRy#&Jr$Zs(Euu8)R-zKu`){r*d$y07*Tep zqC^gW(fqY@oueP>qD*Z8${|Wbl!%BJRjmP1ZPHTe6*f#$tq3S#n(!mOv08E&4Ty@0 zSV^nUp^_?qSEdM1D;ux?uxuvFtRu=4#{iV!&V84gpJRWX>R&4$4@y8aNkqf~SX?jH zt6ERBjH5?k2%sd&U}}-vnv}BxslhwqIm%_cl&jF|yD8pQ%u;tf@^0?Ox6 zr<1x0QZ|wSRFO^3;wjVy=cJ>QWkXP~wOR8uhVqXQ_B&~+F*gGz@lEJe)X&wAwcP|@ zBZ)F?t35S#ytefK=rmM|I4Bm$v*j6OV+~b-Janp*8O<<>4Z4D(&1J&PJa99zIGIfV zq&cX!A?jDyhkcItQtP*&Wld86eO4beo`z;@mT#|{i#<@Ds44ms{myKnHWkoR>=3lr zB)Xzz=JQeu_wWLZnHykcWJ53+YsfQ|6OCn_LSwB>02<7GV!F2S+>lo3bqCZx4m0jwSKNkplWtPSq~VxWj*@&QZd zptg#)*d6wab@<$~<7CMyrD|2eMj%dOxM%)a^-^MPL{1UkO1GvV=XSB2643Nggb&5H zvW>^l0Y4?%Gz8@^cpY@AKv*e`kJ*>WCZCyx88+YxY->IwmjU6#VALd+#uOz3p{Cl8 z5M{e2dZu!mX-?%%++p8kGP+7YEEK2eUTjnxd|EpYCyzxten_^fwLRf;;-R>5D-#Ls$5nrd=kd@3MH53&s;VV+L-Z36W6>~19T*B0_EjVIVrFg= z*jI%&j8;6!cBo^P>S8j13<_+ZozD}Pc|Q%)KEfkBVw7HKdaJ{I=^v+|)S=W`B!>Z! zv|hwA$1>N^r$w%9r*5vIZn&8n<^z`9YC?vL1Ov2ifkX|fVPPH>sz|}9Y7C8mf%M~p zeZN1Aes)>7bf@7@v7hQmQynT$t74K8cFg0xJG?ppb?~xjPCr=qE9JANoJj>FHF;2-LAwmkQ)z znx4yFUV!p&D7l=DrPNcdC53610V$vL@2?@7y)bvrd;o* zYF~po$?jDDtq#xAz-cHGP^i>MnT4Hne2(V>Ano-~aw<(`={wFts=rEdBvw>lL3}sk~(RNozB9gGI26hQxbz1W;sTPe7NgJ zLS^Pd;z9a1=~%0cbw+rdGzwgVRql~++bEB|PGy<$k z-pp|#*6<+q(4P6cRcuaCBP^x%oGnA-!}K!t=UE)Zbc6n@#RtVpt;9Jp(%9|n@`uO8 z-`e7S08Up!|DVTlb9{NfPg5x7c#&nZ;+UI~R|m|E!Dx()=yi^vTurhtOU?-m2E>B; 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