Visual Servoing Platform  version 3.1.0
testKeyPoint-3.cpp
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 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 
61 void usage(const char *name, const char *badparam);
62 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
63 
71 void usage(const char *name, const char *badparam)
72 {
73  fprintf(stdout, "\n\
74 Test keypoints matching.\n\
75 \n\
76 SYNOPSIS\n\
77  %s [-c] [-d] [-h]\n", name);
78 
79  fprintf(stdout, "\n\
80 OPTIONS: \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 
107 bool 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 
149 int main(int argc, const char **argv)
150 {
151  try {
152  std::string env_ipath;
153  bool opt_click_allowed = true;
154  bool opt_display = true;
155 
156  // Read the command line options
157  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
158  exit(-1);
159  }
160 
161  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
162  // environment variable value
163  env_ipath = vpIoTools::getViSPImagesDataPath();
164 
165  if (env_ipath.empty()) {
166  std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
167  "variable value."
168  << std::endl;
169  return -1;
170  }
171 
172  vpImage<unsigned char> Iref, Icur, Imatch;
173 
174  // Set the path location of the image sequence
175  std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
176 
177  // Build the name of the image files
178  std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
179  vpImageIo::read(Iref, filenameRef);
180  std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");
181 
182  // Init keypoints
183  cv::Ptr<cv::FeatureDetector> detector;
184  cv::Ptr<cv::DescriptorExtractor> extractor;
185  cv::Ptr<cv::DescriptorMatcher> matcher;
186 
187 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
188  detector = cv::ORB::create();
189  extractor = cv::ORB::create();
190 #else
191  detector = cv::FeatureDetector::create("ORB");
192  extractor = cv::DescriptorExtractor::create("ORB");
193 #endif
194  matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
195 
196  std::vector<cv::KeyPoint> trainKeyPoints;
197  cv::Mat matImg, trainDescriptors;
198  vpImageConvert::convert(Iref, matImg);
199  detector->detect(matImg, trainKeyPoints);
200  extractor->compute(matImg, trainKeyPoints, trainDescriptors);
201 
202  vpVideoReader g;
203  g.setFileName(filenameCur);
204  g.open(Icur);
205  g.acquire(Icur);
206 
207  Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
208  Imatch.insert(Iref, vpImagePoint(0, 0));
209 
210 #if defined VISP_HAVE_X11
211  vpDisplayX display;
212 #elif defined VISP_HAVE_GTK
213  vpDisplayGTK display;
214 #elif defined VISP_HAVE_GDI
215  vpDisplayGDI display;
216 #else
217  vpDisplayOpenCV display;
218 #endif
219 
220  if (opt_display) {
222  display.init(Imatch, 0, 0, "ORB keypoints matching");
223  }
224 
225  bool opt_click = false;
227  while (!g.end()) {
228  g.acquire(Icur);
229  Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
230 
231  if (opt_display) {
232  vpDisplay::display(Imatch);
233  }
234 
235  vpImageConvert::convert(Icur, matImg);
236  std::vector<cv::KeyPoint> queryKeyPoints;
237  detector->detect(matImg, queryKeyPoints);
238 
239  cv::Mat queryDescriptors;
240  extractor->compute(matImg, queryKeyPoints, queryDescriptors);
241 
242  std::vector<std::vector<cv::DMatch> > knn_matches;
243  std::vector<cv::DMatch> matches;
244  matcher->knnMatch(queryDescriptors, trainDescriptors, knn_matches, 2);
245  for (std::vector<std::vector<cv::DMatch> >::const_iterator it = knn_matches.begin(); it != knn_matches.end();
246  ++it) {
247  if (it->size() > 1) {
248  double ratio = (*it)[0].distance / (*it)[1].distance;
249  if (ratio < 0.85) {
250  matches.push_back((*it)[0]);
251  }
252  }
253  }
254 
255  if (opt_display) {
256  for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
257  vpImagePoint leftPt(trainKeyPoints[(size_t)it->trainIdx].pt.y, trainKeyPoints[(size_t)it->trainIdx].pt.x);
258  vpImagePoint rightPt(queryKeyPoints[(size_t)it->queryIdx].pt.y,
259  queryKeyPoints[(size_t)it->queryIdx].pt.x + Iref.getWidth());
260  vpDisplay::displayLine(Imatch, leftPt, rightPt, vpColor::green);
261  }
262 
263  vpDisplay::flush(Imatch);
264  }
265 
266  // Click requested to process next image
267  if (opt_click_allowed && opt_display) {
268  if (opt_click) {
269  vpDisplay::getClick(Imatch, button, true);
270  if (button == vpMouseButton::button3) {
271  opt_click = false;
272  }
273  } else {
274  // Use right click to enable/disable step by step tracking
275  if (vpDisplay::getClick(Imatch, button, false)) {
276  if (button == vpMouseButton::button3) {
277  opt_click = true;
278  } else if (button == vpMouseButton::button1) {
279  break;
280  }
281  }
282  }
283  }
284  }
285 
286  } catch (vpException &e) {
287  std::cerr << e.what() << std::endl;
288  return -1;
289  }
290 
291  std::cout << "testKeyPoint-3 is ok !" << std::endl;
292  return 0;
293 }
294 #else
295 int main()
296 {
297  std::cerr << "You need OpenCV library." << std::endl;
298 
299  return 0;
300 }
301 
302 #endif
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1210
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:232
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:151
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
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 const vpColor green
Definition: vpColor.h:183
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void open(vpImage< vpRGBa > &I)
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1435
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:138
void acquire(vpImage< vpRGBa > &I)
void resize(const unsigned int h, const unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:856
void setFileName(const char *filename)
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1102
const char * what() const
unsigned int getHeight() const
Definition: vpImage.h:178
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:207
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
unsigned int getWidth() const
Definition: vpImage.h:229