Visual Servoing Platform  version 3.1.0
testKeyPoint-5.cpp
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2  *
3  * This file is part of the ViSP software.
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5  *
6  * This software is free software; you can redistribute it and/or modify
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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  *
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
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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 
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 detection.\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 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 
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 
148 int main(int argc, const char **argv)
149 {
150  try {
151  std::string env_ipath;
152  bool opt_click_allowed = true;
153  bool opt_display = true;
154 
155  // Read the command line options
156  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
157  exit(EXIT_FAILURE);
158  }
159 
160  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
161  // environment variable value
162  env_ipath = vpIoTools::getViSPImagesDataPath();
163 
164  if (env_ipath.empty()) {
165  std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
166  "variable value."
167  << std::endl;
168  return EXIT_FAILURE;
169  }
170 
172 
173  // Set the path location of the image sequence
174  std::string dirname = vpIoTools::createFilePath(env_ipath, "Klimt");
175 
176  // Build the name of the image files
177  std::string filename = vpIoTools::createFilePath(dirname, "/Klimt.png");
178  vpImageIo::read(I, filename);
179 
180 #if defined VISP_HAVE_X11
181  vpDisplayX display;
182 #elif defined VISP_HAVE_GTK
183  vpDisplayGTK display;
184 #elif defined VISP_HAVE_GDI
185  vpDisplayGDI display;
186 #else
187  vpDisplayOpenCV display;
188 #endif
189 
190  if (opt_display) {
191  display.init(I, 0, 0, "KeyPoints detection.");
192  }
193 
194  // Here, we want to test feature detection on a pyramid of images even for
195  // features that are scale invariant to detect potential problem in ViSP.
196  std::cout << "INFORMATION: " << std::endl;
197  std::cout << "Here, we want to test feature detection on a pyramid of images "
198  "even for features "
199  "that are scale invariant to detect potential problem in ViSP."
200  << std::endl
201  << std::endl;
202  vpKeyPoint keyPoints;
203 
204  // Will test the different types of keypoints detection to see if there is
205  // a problem between OpenCV versions, modules or constructors
206  std::vector<std::string> detectorNames;
207  detectorNames.push_back("PyramidFAST");
208  detectorNames.push_back("FAST");
209  detectorNames.push_back("PyramidMSER");
210  detectorNames.push_back("MSER");
211  detectorNames.push_back("PyramidGFTT");
212  detectorNames.push_back("GFTT");
213  detectorNames.push_back("PyramidSimpleBlob");
214  detectorNames.push_back("SimpleBlob");
215 // In contrib modules
216 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
217  detectorNames.push_back("PyramidSTAR");
218  detectorNames.push_back("STAR");
219 #endif
220 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
221  detectorNames.push_back("PyramidAGAST");
222  detectorNames.push_back("AGAST");
223 #endif
224  detectorNames.push_back("PyramidORB");
225  detectorNames.push_back("ORB");
226 #if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
227  detectorNames.push_back("PyramidBRISK");
228  detectorNames.push_back("BRISK");
229 #endif
230 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
231  detectorNames.push_back("PyramidKAZE");
232  detectorNames.push_back("KAZE");
233  detectorNames.push_back("PyramidAKAZE");
234  detectorNames.push_back("AKAZE");
235 #endif
236 
237 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
238  detectorNames.push_back("PyramidSIFT");
239  detectorNames.push_back("SIFT");
240  detectorNames.push_back("PyramidSURF");
241  detectorNames.push_back("SURF");
242 #endif
243 
244  for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
245  keyPoints.setDetector(*itd);
246 
247  std::vector<cv::KeyPoint> kpts;
248 
249  keyPoints.detect(I, kpts);
250  std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
251  if (kpts.empty()) {
252  std::cerr << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
253  return EXIT_FAILURE;
254  }
255 
256  if (opt_display) {
258 
259  for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
260  vpImagePoint imPt;
261  imPt.set_uv(it->pt.x, it->pt.y);
262 
264  }
265 
266  vpDisplay::flush(I);
267 
268  if (opt_click_allowed) {
270  }
271  }
272  }
273 
274  std::cout << "\n\n";
275 
276  std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.getDetectorNames();
277  for (int i = 0; i < vpKeyPoint::DETECTOR_TYPE_SIZE; i++) {
279 
280  std::vector<cv::KeyPoint> kpts;
281 
282  keyPoints.detect(I, kpts);
283  std::cout << "Nb keypoints detected: " << kpts.size() << " for "
284  << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i] << " method." << std::endl;
285  if (kpts.empty()) {
286  std::cerr << "No keypoints detected with " << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i]
287  << " method and image: " << filename << "." << std::endl;
288  return EXIT_FAILURE;
289  }
290 
291  if (opt_display) {
293 
294  for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
295  vpImagePoint imPt;
296  imPt.set_uv(it->pt.x, it->pt.y);
297 
299  }
300 
301  vpDisplay::flush(I);
302 
303  if (opt_click_allowed) {
305  }
306  }
307  }
308 
309  } catch (vpException &e) {
310  std::cerr << e.what() << std::endl;
311  return EXIT_FAILURE;
312  }
313 
314  std::cout << "testKeyPoint-5 is ok !" << std::endl;
315  return EXIT_SUCCESS;
316 }
317 #else
318 #include <cstdlib>
319 
320 int main()
321 {
322  std::cerr << "You need OpenCV library." << std::endl;
323 
324  return EXIT_SUCCESS;
325 }
326 
327 #endif
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1210
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
Definition: vpKeyPoint.h:496
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:151
error that can be emited by ViSP classes.
Definition: vpException.h:71
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
static const vpColor red
Definition: vpColor.h:180
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1435
vpFeatureDetectorType
Definition: vpKeyPoint.h:259
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setDetector(const vpFeatureDetectorType &detectorType)
Definition: vpKeyPoint.h:729
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:138
const char * what() const
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:207
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:223
void set_uv(const double u, const double v)
Definition: vpImagePoint.h:248
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())