Visual Servoing Platform version 3.5.0
testKeyPoint-5.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test keypoints detection with OpenCV, specially the Pyramid implementation
33 * feature misssing in OpenCV 3.0.
34 *
35 * Authors:
36 * Souriya Trinh
37 *
38 *****************************************************************************/
39
40#include <iostream>
41
42#include <visp3/core/vpConfig.h>
43
44#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
45
46#include <visp3/core/vpImage.h>
47#include <visp3/core/vpIoTools.h>
48#include <visp3/gui/vpDisplayGDI.h>
49#include <visp3/gui/vpDisplayGTK.h>
50#include <visp3/gui/vpDisplayOpenCV.h>
51#include <visp3/gui/vpDisplayX.h>
52#include <visp3/io/vpImageIo.h>
53#include <visp3/io/vpParseArgv.h>
54#include <visp3/vision/vpKeyPoint.h>
55
56// List of allowed command line options
57#define GETOPTARGS "cdh"
58
59void usage(const char *name, const char *badparam);
60bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
61
70void usage(const char *name, const char *badparam)
71{
72 fprintf(stdout, "\n\
73Test keypoints detection.\n\
74\n\
75SYNOPSIS\n\
76 %s [-c] [-d] [-h]\n", name);
77
78 fprintf(stdout, "\n\
79OPTIONS: \n\
80\n\
81 -c\n\
82 Disable the mouse click. Useful to automaze the \n\
83 execution of this program without humain intervention.\n\
84\n\
85 -d \n\
86 Turn off the display.\n\
87\n\
88 -h\n\
89 Print the help.\n");
90
91 if (badparam)
92 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
93}
94
106bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
107{
108 const char *optarg_;
109 int c;
110 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
111
112 switch (c) {
113 case 'c':
114 click_allowed = false;
115 break;
116 case 'd':
117 display = false;
118 break;
119 case 'h':
120 usage(argv[0], NULL);
121 return false;
122 break;
123
124 default:
125 usage(argv[0], optarg_);
126 return false;
127 break;
128 }
129 }
130
131 if ((c == 1) || (c == -1)) {
132 // standalone param or error
133 usage(argv[0], NULL);
134 std::cerr << "ERROR: " << std::endl;
135 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
136 return false;
137 }
138
139 return true;
140}
141
142template<typename Type>
143void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_display,
144 vpImage<Type> &Iinput, vpImage<Type> &I)
145{
146 // Set the path location of the image sequence
147 std::string dirname = vpIoTools::createFilePath(env_ipath, "Klimt");
148
149 // Build the name of the image files
150 std::string filename = vpIoTools::createFilePath(dirname, "/Klimt.png");
151 vpImageIo::read(Iinput, filename);
152 Iinput.halfSizeImage(I);
153
154#if defined VISP_HAVE_X11
155 vpDisplayX display;
156#elif defined VISP_HAVE_GTK
157 vpDisplayGTK display;
158#elif defined VISP_HAVE_GDI
159 vpDisplayGDI display;
160#else
161 vpDisplayOpenCV display;
162#endif
163
164 if (opt_display) {
165 display.init(I, 0, 0, "KeyPoints detection.");
166 }
167
168 // Here, we want to test feature detection on a pyramid of images even for
169 // features that are scale invariant to detect potential problem in ViSP.
170 std::cout << "INFORMATION: " << std::endl;
171 std::cout << "Here, we want to test feature detection on a pyramid of images "
172 "even for features "
173 "that are scale invariant to detect potential problem in ViSP."
174 << std::endl
175 << std::endl;
176 vpKeyPoint keyPoints;
177
178 // Will test the different types of keypoints detection to see if there is
179 // a problem between OpenCV versions, modules or constructors
180 std::vector<std::string> detectorNames;
181 detectorNames.push_back("PyramidFAST");
182 detectorNames.push_back("FAST");
183 detectorNames.push_back("PyramidMSER");
184 detectorNames.push_back("MSER");
185 detectorNames.push_back("PyramidGFTT");
186 detectorNames.push_back("GFTT");
187 detectorNames.push_back("PyramidSimpleBlob");
188 detectorNames.push_back("SimpleBlob");
189// In contrib modules
190#if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
191 detectorNames.push_back("PyramidSTAR");
192 detectorNames.push_back("STAR");
193#endif
194#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
195 detectorNames.push_back("PyramidAGAST");
196 detectorNames.push_back("AGAST");
197#endif
198 detectorNames.push_back("PyramidORB");
199 detectorNames.push_back("ORB");
200#if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
201 detectorNames.push_back("PyramidBRISK");
202 detectorNames.push_back("BRISK");
203#endif
204#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
205 detectorNames.push_back("PyramidKAZE");
206 detectorNames.push_back("KAZE");
207 detectorNames.push_back("PyramidAKAZE");
208 detectorNames.push_back("AKAZE");
209#endif
210
211#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
212 (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
213#if (VISP_HAVE_OPENCV_VERSION != 0x040504) && (defined(__APPLE__) && defined(__MACH__))
214 detectorNames.push_back("PyramidSIFT");
215 detectorNames.push_back("SIFT"); // SIFT is known unstable with OpenCV 4.5.4 on macOS
216#endif
217#endif
218#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
219 detectorNames.push_back("PyramidSURF");
220 detectorNames.push_back("SURF");
221#endif
222
223 for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
224 keyPoints.setDetector(*itd);
225
226 std::vector<cv::KeyPoint> kpts;
227
228 keyPoints.detect(I, kpts);
229 std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
230 if (kpts.empty()) {
231 std::stringstream ss;
232 ss << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
233 throw(vpException(vpException::fatalError, ss.str()));
234 }
235
236 if (opt_display) {
238
239 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
240 vpImagePoint imPt;
241 imPt.set_uv(it->pt.x, it->pt.y);
242
244 }
245
247
248 if (opt_click_allowed) {
250 }
251 }
252 }
253
254 std::cout << "\n\n";
255
256 std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.getDetectorNames();
257 for (int i = 0; i < vpKeyPoint::DETECTOR_TYPE_SIZE; i++) {
258#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
259 (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
260#if (VISP_HAVE_OPENCV_VERSION == 0x040504) && (defined(__APPLE__) && defined(__MACH__))
261 if (i == vpKeyPoint::DETECTOR_SIFT) { // SIFT is known unstable with OpenCV 4.5.4 on macOS
262 continue;
263 }
264#endif
265#endif
267
268 std::vector<cv::KeyPoint> kpts;
269
270 keyPoints.detect(I, kpts);
271 std::cout << "Nb keypoints detected: " << kpts.size() << " for "
272 << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i] << " method." << std::endl;
273 if (kpts.empty()) {
274 std::stringstream ss;
275 ss << "No keypoints detected with " << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i]
276 << " method and image: " << filename << "." << std::endl;
277 throw(vpException(vpException::fatalError, ss.str()));
278 }
279
280 if (opt_display) {
282
283 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
284 vpImagePoint imPt;
285 imPt.set_uv(it->pt.x, it->pt.y);
286
288 }
289
291
292 if (opt_click_allowed) {
294 }
295 }
296 }
297}
298
305int main(int argc, const char **argv)
306{
307 try {
308 std::string env_ipath;
309 bool opt_click_allowed = true;
310 bool opt_display = true;
311
312 // Read the command line options
313 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
314 exit(EXIT_FAILURE);
315 }
316
317 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
318 // environment variable value
320
321 if (env_ipath.empty()) {
322 std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
323 "variable value."
324 << std::endl;
325 return EXIT_FAILURE;
326 }
327
328 {
329 vpImage<unsigned char> Iinput, I;
330
331 std::cout << "-- Test on gray level images" << std::endl;
332 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
333 }
334
335 {
336 vpImage<vpRGBa> Iinput, I;
337
338 std::cout << "-- Test on color images" << std::endl;
339 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
340 }
341
342 } catch (const vpException &e) {
343 std::cerr << e.what() << std::endl;
344 return EXIT_FAILURE;
345 }
346
347 std::cout << "testKeyPoint-5 is ok !" << std::endl;
348 return EXIT_SUCCESS;
349}
350#else
351#include <cstdlib>
352
353int main()
354{
355 std::cerr << "You need OpenCV library." << std::endl;
356
357 return EXIT_SUCCESS;
358}
359
360#endif
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
const char * what() const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void set_uv(double u, double v)
Definition: vpImagePoint.h:247
Definition of the vpImage class member functions.
Definition: vpImage.h:139
void halfSizeImage(vpImage< Type > &res) const
Definition: vpImage.h:1192
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:223
vpFeatureDetectorType
Definition: vpKeyPoint.h:258
@ DETECTOR_TYPE_SIZE
Definition: vpKeyPoint.h:285
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
Definition: vpKeyPoint.h:533
void setDetector(const vpFeatureDetectorType &detectorType)
Definition: vpKeyPoint.h:782
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69