Visual Servoing Platform  version 3.3.0
testKeyPoint.cpp
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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 
59 void usage(const char *name, const char *badparam);
60 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
61 
70 void 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 
106 bool 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 
142 template<typename Type>
143 void 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 
158  vpVideoReader g;
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 
226 int 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
240  env_ipath = vpIoTools::getViSPImagesDataPath();
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
272 int main()
273 {
274  std::cerr << "You need OpenCV library." << std::endl;
275 
276  return 0;
277 }
278 
279 #endif
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
vpImage::insert
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1230
vpIoTools::getViSPImagesDataPath
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1292
vpMouseButton::button1
@ button1
Definition: vpMouseButton.h:53
vpDisplay::SCALE_AUTO
@ SCALE_AUTO
Definition: vpDisplay.h:177
vpImageIo::read
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:243
vpVideoReader::end
bool end()
Definition: vpVideoReader.h:260
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:222
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:141
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:280
vpVideoReader::open
void open(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:175
vpParseArgv::parse
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:171
vpVideoReader::setFileName
void setFileName(const std::string &filename)
Definition: vpVideoReader.cpp:92
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:740
vpDisplayGTK
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:137
vpException::what
const char * what() const
Definition: vpException.cpp:102
vpKeyPoint
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:222
vpIoTools::createFilePath
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1537
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
vpMouseButton::button3
@ button3
Definition: vpMouseButton.h:55
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:716
vpImage
Definition of the vpImage class member functions.
Definition: vpImage.h:160
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:765
vpMouseButton::vpMouseButtonType
vpMouseButtonType
Definition: vpMouseButton.h:52
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:244
vpImage::resize
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:915