Visual Servoing Platform version 3.5.0
testKeyPoint-3.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 with mostly OpenCV functions calls
33 * to detect potential memory leaks in testKeyPoint.cpp.
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 <opencv2/core/core.hpp>
47#include <opencv2/features2d/features2d.hpp>
48#include <visp3/core/vpImage.h>
49#include <visp3/core/vpIoTools.h>
50#include <visp3/gui/vpDisplayGDI.h>
51#include <visp3/gui/vpDisplayGTK.h>
52#include <visp3/gui/vpDisplayOpenCV.h>
53#include <visp3/gui/vpDisplayX.h>
54#include <visp3/io/vpImageIo.h>
55#include <visp3/io/vpParseArgv.h>
56#include <visp3/io/vpVideoReader.h>
57
58// List of allowed command line options
59#define GETOPTARGS "cdh"
60
61void usage(const char *name, const char *badparam);
62bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
63
71void usage(const char *name, const char *badparam)
72{
73 fprintf(stdout, "\n\
74Test keypoints matching.\n\
75\n\
76SYNOPSIS\n\
77 %s [-c] [-d] [-h]\n", name);
78
79 fprintf(stdout, "\n\
80OPTIONS: \n\
81\n\
82 -c\n\
83 Disable the mouse click. Useful to automate the \n\
84 execution of this program without human intervention.\n\
85\n\
86 -d \n\
87 Turn off the display.\n\
88\n\
89 -h\n\
90 Print the help.\n");
91
92 if (badparam)
93 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
94}
95
107bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
108{
109 const char *optarg_;
110 int c;
111 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
112
113 switch (c) {
114 case 'c':
115 click_allowed = false;
116 break;
117 case 'd':
118 display = false;
119 break;
120 case 'h':
121 usage(argv[0], NULL);
122 return false;
123 break;
124
125 default:
126 usage(argv[0], optarg_);
127 return false;
128 break;
129 }
130 }
131
132 if ((c == 1) || (c == -1)) {
133 // standalone param or error
134 usage(argv[0], NULL);
135 std::cerr << "ERROR: " << std::endl;
136 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
137 return false;
138 }
139
140 return true;
141}
142
143template<typename Type>
144void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_display,
145 vpImage<Type> &Iref, vpImage<Type> &Icur, vpImage<Type> &Imatch)
146{
147 // Set the path location of the image sequence
148 std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
149
150 // Build the name of the image files
151 std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
152 vpImageIo::read(Iref, filenameRef);
153 std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");
154
155 // Init keypoints
156 cv::Ptr<cv::FeatureDetector> detector;
157 cv::Ptr<cv::DescriptorExtractor> extractor;
158 cv::Ptr<cv::DescriptorMatcher> matcher;
159
160#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
161 detector = cv::ORB::create();
162 extractor = cv::ORB::create();
163#else
164 detector = cv::FeatureDetector::create("ORB");
165 extractor = cv::DescriptorExtractor::create("ORB");
166#endif
167 matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
168
169 std::vector<cv::KeyPoint> trainKeyPoints;
170 cv::Mat matImg, trainDescriptors;
171 vpImageConvert::convert(Iref, matImg);
172 detector->detect(matImg, trainKeyPoints);
173 extractor->compute(matImg, trainKeyPoints, trainDescriptors);
174
176 g.setFileName(filenameCur);
177 g.open(Icur);
178 g.acquire(Icur);
179
180 Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
181 Imatch.insert(Iref, vpImagePoint(0, 0));
182
183#if defined VISP_HAVE_X11
184 vpDisplayX display;
185#elif defined VISP_HAVE_GTK
186 vpDisplayGTK display;
187#elif defined VISP_HAVE_GDI
188 vpDisplayGDI display;
189#else
190 vpDisplayOpenCV display;
191#endif
192
193 if (opt_display) {
194 display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
195 display.init(Imatch, 0, 0, "ORB keypoints matching");
196 }
197
198 bool opt_click = false;
200 while (!g.end()) {
201 g.acquire(Icur);
202 Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
203
204 if (opt_display) {
205 vpDisplay::display(Imatch);
206 }
207
208 vpImageConvert::convert(Icur, matImg);
209 std::vector<cv::KeyPoint> queryKeyPoints;
210 detector->detect(matImg, queryKeyPoints);
211
212 cv::Mat queryDescriptors;
213 extractor->compute(matImg, queryKeyPoints, queryDescriptors);
214
215 std::vector<std::vector<cv::DMatch> > knn_matches;
216 std::vector<cv::DMatch> matches;
217 matcher->knnMatch(queryDescriptors, trainDescriptors, knn_matches, 2);
218 for (std::vector<std::vector<cv::DMatch> >::const_iterator it = knn_matches.begin(); it != knn_matches.end();
219 ++it) {
220 if (it->size() > 1) {
221 double ratio = (*it)[0].distance / (*it)[1].distance;
222 if (ratio < 0.85) {
223 matches.push_back((*it)[0]);
224 }
225 }
226 }
227
228 if (opt_display) {
229 for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
230 vpImagePoint leftPt(trainKeyPoints[(size_t)it->trainIdx].pt.y, trainKeyPoints[(size_t)it->trainIdx].pt.x);
231 vpImagePoint rightPt(queryKeyPoints[(size_t)it->queryIdx].pt.y,
232 queryKeyPoints[(size_t)it->queryIdx].pt.x + Iref.getWidth());
233 vpDisplay::displayLine(Imatch, leftPt, rightPt, vpColor::green);
234 }
235
236 vpDisplay::flush(Imatch);
237 }
238
239 // Click requested to process next image
240 if (opt_click_allowed && opt_display) {
241 if (opt_click) {
242 vpDisplay::getClick(Imatch, button, true);
243 if (button == vpMouseButton::button3) {
244 opt_click = false;
245 }
246 } else {
247 // Use right click to enable/disable step by step tracking
248 if (vpDisplay::getClick(Imatch, button, false)) {
249 if (button == vpMouseButton::button3) {
250 opt_click = true;
251 } else if (button == vpMouseButton::button1) {
252 break;
253 }
254 }
255 }
256 }
257 }
258}
259
266int main(int argc, const char **argv)
267{
268 try {
269 std::string env_ipath;
270 bool opt_click_allowed = true;
271 bool opt_display = true;
272
273 // Read the command line options
274 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
275 exit(-1);
276 }
277
278 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
279 // environment variable value
281
282 if (env_ipath.empty()) {
283 std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
284 "variable value."
285 << std::endl;
286 return -1;
287 }
288
289 {
290 vpImage<unsigned char> Iref, Icur, Imatch;
291
292 std::cout << "-- Test on gray level images" << std::endl;
293 run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
294 }
295
296 {
297 vpImage<vpRGBa> Iref, Icur, Imatch;
298
299 std::cout << "-- Test on color images" << std::endl;
300 run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
301 }
302
303 } catch (const vpException &e) {
304 std::cerr << e.what() << std::endl;
305 return -1;
306 }
307
308 std::cout << "testKeyPoint-3 is ok !" << std::endl;
309 return 0;
310}
311#else
312int main()
313{
314 std::cerr << "You need OpenCV library." << std::endl;
315
316 return 0;
317}
318
319#endif
static const vpColor green
Definition: vpColor.h:220
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 displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
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 convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
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
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)