Visual Servoing Platform version 3.5.0
testKeyPoint.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 keypoint matching.
33 *
34 * Authors:
35 * Souriya Trinh
36 *
37 *****************************************************************************/
38
39#include <iostream>
40
41#include <visp3/core/vpConfig.h>
42
43#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
44
45#include <visp3/core/vpImage.h>
46#include <visp3/core/vpIoTools.h>
47#include <visp3/gui/vpDisplayGDI.h>
48#include <visp3/gui/vpDisplayGTK.h>
49#include <visp3/gui/vpDisplayOpenCV.h>
50#include <visp3/gui/vpDisplayX.h>
51#include <visp3/io/vpImageIo.h>
52#include <visp3/io/vpParseArgv.h>
53#include <visp3/io/vpVideoReader.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\
73 Test keypoints matching.\n\
74 \n\
75 SYNOPSIS\n\
76 %s [-c] [-d] [-h]\n", name);
77
78 fprintf(stdout, "\n\
79 OPTIONS: \n\
80 \n\
81 -c\n\
82 Disable the mouse click. Useful to automate the \n\
83 execution of this program without human 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> &Iref, vpImage<Type> &Icur, vpImage<Type> &Imatch)
145{
146 // Set the path location of the image sequence
147 std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
148
149 // Build the name of the image files
150 std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
151 vpImageIo::read(Iref, filenameRef);
152 std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");
153
154 // Init keypoints
155 vpKeyPoint keypoints("ORB", "ORB", "BruteForce-Hamming");
156 std::cout << "Build " << keypoints.buildReference(Iref) << " reference points." << std::endl;
157
159 g.setFileName(filenameCur);
160 g.open(Icur);
161 g.acquire(Icur);
162
163 Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
164 Imatch.insert(Iref, vpImagePoint(0, 0));
165
166#if defined VISP_HAVE_X11
167 vpDisplayX display;
168#elif defined VISP_HAVE_GTK
169 vpDisplayGTK display;
170#elif defined VISP_HAVE_GDI
171 vpDisplayGDI display;
172#else
173 vpDisplayOpenCV display;
174#endif
175
176 if (opt_display) {
177 display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
178 display.init(Imatch, 0, 0, "ORB keypoints matching");
179 }
180
181 bool opt_click = false;
183 while (!g.end()) {
184 g.acquire(Icur);
185 Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
186
187 if (opt_display) {
188 vpDisplay::display(Imatch);
189 }
190
191 // Match keypoints
192 keypoints.matchPoint(Icur);
193 // Display image with keypoints matched
194 keypoints.displayMatching(Iref, Imatch);
195
196 if (opt_display) {
197 vpDisplay::flush(Imatch);
198 }
199
200 // Click requested to process next image
201 if (opt_click_allowed && opt_display) {
202 if (opt_click) {
203 vpDisplay::getClick(Imatch, button, true);
204 if (button == vpMouseButton::button3) {
205 opt_click = false;
206 }
207 } else {
208 // Use right click to enable/disable step by step tracking
209 if (vpDisplay::getClick(Imatch, button, false)) {
210 if (button == vpMouseButton::button3) {
211 opt_click = true;
212 } else if (button == vpMouseButton::button1) {
213 break;
214 }
215 }
216 }
217 }
218 }
219}
220
226int main(int argc, const char **argv)
227{
228 try {
229 std::string env_ipath;
230 bool opt_click_allowed = true;
231 bool opt_display = true;
232
233 // Read the command line options
234 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
235 exit(-1);
236 }
237
238 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
239 // environment variable value
241
242 if (env_ipath.empty()) {
243 std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
244 "variable value."
245 << std::endl;
246 return -1;
247 }
248
249 {
250 vpImage<unsigned char> Iref, Icur, Imatch;
251
252 std::cout << "-- Test on gray level images" << std::endl;
253 run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
254 }
255
256 {
257 vpImage<vpRGBa> Iref, Icur, Imatch;
258
259 std::cout << "-- Test on color images" << std::endl;
260 run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
261 }
262
263 } catch (const vpException &e) {
264 std::cerr << e.what() << std::endl;
265 return -1;
266 }
267
268 std::cout << "testKeyPoint is ok !" << std::endl;
269 return 0;
270}
271#else
272int main()
273{
274 std::cerr << "You need OpenCV library." << std::endl;
275
276 return 0;
277}
278
279#endif
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 flush(const vpImage< unsigned char > &I)
@ SCALE_AUTO
Definition: vpDisplay.h:183
error that can be emited by ViSP classes.
Definition: vpException.h:72
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
Definition of the vpImage class member functions.
Definition: vpImage.h:139
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1115
unsigned int getHeight() const
Definition: vpImage.h:188
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
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)