Visual Servoing Platform  version 3.2.0
testKeyPoint-5.cpp
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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
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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 
171  vpImage<unsigned char> Iinput, I;
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(Iinput, filename);
179  Iinput.halfSizeImage(I);
180 
181 #if defined VISP_HAVE_X11
182  vpDisplayX display;
183 #elif defined VISP_HAVE_GTK
184  vpDisplayGTK display;
185 #elif defined VISP_HAVE_GDI
186  vpDisplayGDI display;
187 #else
188  vpDisplayOpenCV display;
189 #endif
190 
191  if (opt_display) {
192  display.init(I, 0, 0, "KeyPoints detection.");
193  }
194 
195  // Here, we want to test feature detection on a pyramid of images even for
196  // features that are scale invariant to detect potential problem in ViSP.
197  std::cout << "INFORMATION: " << std::endl;
198  std::cout << "Here, we want to test feature detection on a pyramid of images "
199  "even for features "
200  "that are scale invariant to detect potential problem in ViSP."
201  << std::endl
202  << std::endl;
203  vpKeyPoint keyPoints;
204 
205  // Will test the different types of keypoints detection to see if there is
206  // a problem between OpenCV versions, modules or constructors
207  std::vector<std::string> detectorNames;
208  detectorNames.push_back("PyramidFAST");
209  detectorNames.push_back("FAST");
210  detectorNames.push_back("PyramidMSER");
211  detectorNames.push_back("MSER");
212  detectorNames.push_back("PyramidGFTT");
213  detectorNames.push_back("GFTT");
214  detectorNames.push_back("PyramidSimpleBlob");
215  detectorNames.push_back("SimpleBlob");
216 // In contrib modules
217 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
218  detectorNames.push_back("PyramidSTAR");
219  detectorNames.push_back("STAR");
220 #endif
221 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
222  detectorNames.push_back("PyramidAGAST");
223  detectorNames.push_back("AGAST");
224 #endif
225  detectorNames.push_back("PyramidORB");
226  detectorNames.push_back("ORB");
227 #if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
228  detectorNames.push_back("PyramidBRISK");
229  detectorNames.push_back("BRISK");
230 #endif
231 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
232  detectorNames.push_back("PyramidKAZE");
233  detectorNames.push_back("KAZE");
234  detectorNames.push_back("PyramidAKAZE");
235  detectorNames.push_back("AKAZE");
236 #endif
237 
238 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
239  detectorNames.push_back("PyramidSIFT");
240  detectorNames.push_back("SIFT");
241  detectorNames.push_back("PyramidSURF");
242  detectorNames.push_back("SURF");
243 #endif
244 
245  for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
246  keyPoints.setDetector(*itd);
247 
248  std::vector<cv::KeyPoint> kpts;
249 
250  keyPoints.detect(I, kpts);
251  std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
252  if (kpts.empty()) {
253  std::cerr << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
254  return EXIT_FAILURE;
255  }
256 
257  if (opt_display) {
259 
260  for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
261  vpImagePoint imPt;
262  imPt.set_uv(it->pt.x, it->pt.y);
263 
265  }
266 
267  vpDisplay::flush(I);
268 
269  if (opt_click_allowed) {
271  }
272  }
273  }
274 
275  std::cout << "\n\n";
276 
277  std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.getDetectorNames();
278  for (int i = 0; i < vpKeyPoint::DETECTOR_TYPE_SIZE; i++) {
280 
281  std::vector<cv::KeyPoint> kpts;
282 
283  keyPoints.detect(I, kpts);
284  std::cout << "Nb keypoints detected: " << kpts.size() << " for "
285  << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i] << " method." << std::endl;
286  if (kpts.empty()) {
287  std::cerr << "No keypoints detected with " << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i]
288  << " method and image: " << filename << "." << std::endl;
289  return EXIT_FAILURE;
290  }
291 
292  if (opt_display) {
294 
295  for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
296  vpImagePoint imPt;
297  imPt.set_uv(it->pt.x, it->pt.y);
298 
300  }
301 
302  vpDisplay::flush(I);
303 
304  if (opt_click_allowed) {
306  }
307  }
308  }
309 
310  } catch (const vpException &e) {
311  std::cerr << e.what() << std::endl;
312  return EXIT_FAILURE;
313  }
314 
315  std::cout << "testKeyPoint-5 is ok !" << std::endl;
316  return EXIT_SUCCESS;
317 }
318 #else
319 #include <cstdlib>
320 
321 int main()
322 {
323  std::cerr << "You need OpenCV library." << std::endl;
324 
325  return EXIT_SUCCESS;
326 }
327 
328 #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
vpIoTools::getViSPImagesDataPath
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1317
vpImage::halfSizeImage
void halfSizeImage(vpImage< Type > &res) const
Definition: vpImage.h:1264
vpImageIo::read
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:206
vpImagePoint::set_uv
void set_uv(const double u, const double v)
Definition: vpImagePoint.h:247
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpKeyPoint::DETECTOR_TYPE_SIZE
Definition: vpKeyPoint.h:287
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:141
vpParseArgv::parse
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:68
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:676
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:101
vpKeyPoint
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:227
vpKeyPoint::detect
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
Definition: vpKeyPoint.cpp:1096
vpKeyPoint::getDetectorNames
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
Definition: vpKeyPoint.h:500
vpIoTools::createFilePath
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1542
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:652
vpDisplay::displayCross
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Definition: vpDisplay_uchar.cpp:179
vpKeyPoint::vpFeatureDetectorType
vpFeatureDetectorType
Definition: vpKeyPoint.h:263
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:701
vpKeyPoint::setDetector
void setDetector(const vpFeatureDetectorType &detectorType)
Definition: vpKeyPoint.h:733
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpColor::red
static const vpColor red
Definition: vpColor.h:179