Add matchTemplate nodelet

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}")
@@ -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
@@ -158,7 +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

cfg/MatchTemplate.cfg

@@ -0,0 +1,51 @@
+#! /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)
+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"))

launch/match_template.launch

@@ -0,0 +1,21 @@
+<launch>
+  <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="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="filename for template image"/>
+  <arg name="mask_file" default="" doc="filename for mask image"/>
+
+  <!-- match_template_nodelet.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="match_template" output="screen">
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(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="mask_file" value="$(arg mask_file)" />
+    <param name="match_threshold" value="0.0"/>
+  </node>
+</launch>

nodelet_plugins.xml

@@ -67,6 +67,10 @@
     <description>Nodelet to calculate Lukas-Kanade optical flow</description>
   </class>
 
+  <class name="match_template/match_template" type="match_template::MatchTemplateNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to find the template on the image</description>
+  </class>
+
   <class name="people_detect/people_detect" type="people_detect::PeopleDetectNodelet" base_class_type="nodelet::Nodelet">
     <description>Nodelet to demonstrate the use of the HoG descriptor</description>
   </class>