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Merge pull request #1 from k-okada/add_matching_template
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update matching template
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@7675t
7675t authored Jul 18, 2017
2 parents b0e571a + 905b3db commit fecf13a
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Showing 5 changed files with 104 additions and 29 deletions.
4 changes: 1 addition & 3 deletions CMakeLists.txt
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Expand Up @@ -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
Expand Down Expand Up @@ -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}
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8 changes: 8 additions & 0 deletions cfg/MatchTemplate.cfg
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Expand Up @@ -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"))
6 changes: 4 additions & 2 deletions launch/match_template.launch
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Expand Up @@ -4,6 +4,8 @@
<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="false" doc="Specify whether the node displays a window to show edge image" />
<arg name="match_method" default="0" 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="$(find opencv_apps)/template.png" doc="filename for template image"/>
<arg name="mask_file" default="$(find opencv_apps)/mask.png" doc="filename for mask image"/>

<!-- match_template_nodelet.cpp -->
<node name="$(arg node_name)" pkg="opencv_apps" type="match_template" output="screen">
Expand All @@ -12,7 +14,7 @@
<param name="debug_view" value="$(arg debug_view)" />
<param name="match_method" value="$(arg match_method)" />
<param name="use_mask" value="false" />
<param name="template_file" value="$(find opencv_apps)/template.png" />
<param name="mask_file" value="$(find opencv_apps)/mask.png" />
<param name="template_file" value="$(arg template_file)" />
<param name="mask_file" value="$(arg mask_file)" />
</node>
</launch>
87 changes: 63 additions & 24 deletions src/nodelet/match_template_nodelet.cpp
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Expand Up @@ -52,6 +52,7 @@
#include <dynamic_reconfigure/server.h>
#include "opencv_apps/MatchTemplateConfig.h"
#include "opencv_apps/RectArrayStamped.h"
#include <std_msgs/Float64.h>

namespace match_template
{
Expand All @@ -61,7 +62,8 @@ namespace match_template
image_transport::Publisher matched_img_pub_;
image_transport::Subscriber img_sub_;
image_transport::CameraSubscriber cam_sub_;
ros::Publisher msg_pub_;
ros::Publisher matched_val_pub_;
ros::Publisher matched_rect_pub_;

boost::shared_ptr < image_transport::ImageTransport > it_;

Expand All @@ -72,16 +74,24 @@ 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)
{
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)
Expand Down Expand Up @@ -118,32 +128,25 @@ 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);
#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_);
}
//! [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;
Expand All @@ -154,23 +157,57 @@ 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);
rectangle (result, matchLoc, cv::Point (matchLoc.x + templ_.cols, matchLoc.y + templ_.rows),
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);

//-- 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 ();
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 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);
}
catch (cv::Exception & e)
{
Expand Down Expand Up @@ -204,34 +241,35 @@ 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 ());

if (debug_view_)
{
always_subscribe_ = true;
}
#if (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 2)
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);
#endif
templ_ = imread (templ_file, cv::IMREAD_COLOR);

if (debug_view_)
if (!templ_.data)
{
cv::imshow ("Match Template", templ_);
int c = cv::waitKey (1);
NODELET_ERROR ("Cannot open template file (%s)", templ_file.c_str ());
exit (-1);
}

prev_stamp_ = ros::Time (0, 0);

reconfigure_server_ = boost::make_shared < dynamic_reconfigure::Server < Config > >(*pnh_);
Expand All @@ -241,7 +279,8 @@ namespace match_template

img_pub_ = advertiseImage (*pnh_, "image", 1);
matched_img_pub_ = advertiseImage (*pnh_, "matched_image", 1);
msg_pub_ = advertise < opencv_apps::RectArrayStamped > (*pnh_, "matched_rectangle", 1);
matched_val_pub_ = advertise< std_msgs::Float64 > (*pnh_, "matched_value", 1);
matched_rect_pub_ = advertise < opencv_apps::RectArrayStamped > (*pnh_, "matched_rectangle", 1);

onInitPostProcess ();
}
Expand Down
28 changes: 28 additions & 0 deletions test/test-match_template.test
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@@ -0,0 +1,28 @@
<launch>
<arg name="gui" default="true" />
<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_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_rect" />
<arg name="template_file" value="$(find opencv_apps)/test/template.png" />
<arg name="mask_file" value="" />
</include>

<!-- Test Codes -->
<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="match_template_test/topic" value="match_template/matched_rectangle" /> <!-- opencv_apps/ContorArrayStamped -->
<test test-name="match_template_test" pkg="rostest" type="hztest" name="match_template_test" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
</group>
</launch>

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