Visual Servoing Platform  version 3.2.0
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 
147 int main(int argc, const char **argv)
148 {
149  try {
150  std::string env_ipath;
151  bool opt_click_allowed = true;
152  bool opt_display = true;
153 
154  // Read the command line options
155  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
156  exit(-1);
157  }
158 
159  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
160  // environment variable value
161  env_ipath = vpIoTools::getViSPImagesDataPath();
162 
163  if (env_ipath.empty()) {
164  std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
165  "variable value."
166  << std::endl;
167  return -1;
168  }
169 
170  vpImage<unsigned char> Iref, Icur, Imatch;
171 
172  // Set the path location of the image sequence
173  std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
174 
175  // Build the name of the image files
176  std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
177  vpImageIo::read(Iref, filenameRef);
178  std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");
179 
180  // Init keypoints
181  vpKeyPoint keypoints("ORB", "ORB", "BruteForce-Hamming");
182  std::cout << "Build " << keypoints.buildReference(Iref) << " reference points." << std::endl;
183 
184  vpVideoReader g;
185  g.setFileName(filenameCur);
186  g.open(Icur);
187  g.acquire(Icur);
188 
189  Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
190  Imatch.insert(Iref, vpImagePoint(0, 0));
191 
192 #if defined VISP_HAVE_X11
193  vpDisplayX display;
194 #elif defined VISP_HAVE_GTK
195  vpDisplayGTK display;
196 #elif defined VISP_HAVE_GDI
197  vpDisplayGDI display;
198 #else
199  vpDisplayOpenCV display;
200 #endif
201 
202  if (opt_display) {
203  display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
204  display.init(Imatch, 0, 0, "ORB keypoints matching");
205  }
206 
207  bool opt_click = false;
209  while (!g.end()) {
210  g.acquire(Icur);
211  Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
212 
213  if (opt_display) {
214  vpDisplay::display(Imatch);
215  }
216 
217  // Match keypoints
218  keypoints.matchPoint(Icur);
219  // Display image with keypoints matched
220  keypoints.displayMatching(Iref, Imatch);
221 
222  if (opt_display) {
223  vpDisplay::flush(Imatch);
224  }
225 
226  // Click requested to process next image
227  if (opt_click_allowed && opt_display) {
228  if (opt_click) {
229  vpDisplay::getClick(Imatch, button, true);
230  if (button == vpMouseButton::button3) {
231  opt_click = false;
232  }
233  } else {
234  // Use right click to enable/disable step by step tracking
235  if (vpDisplay::getClick(Imatch, button, false)) {
236  if (button == vpMouseButton::button3) {
237  opt_click = true;
238  } else if (button == vpMouseButton::button1) {
239  break;
240  }
241  }
242  }
243  }
244  }
245 
246  } catch (const vpException &e) {
247  std::cerr << e.what() << std::endl;
248  return -1;
249  }
250 
251  std::cout << "testKeyPoint is ok !" << std::endl;
252  return 0;
253 }
254 #else
255 int main()
256 {
257  std::cerr << "You need OpenCV library." << std::endl;
258 
259  return 0;
260 }
261 
262 #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
vpMouseButton::button1
Definition: vpMouseButton.h:52
vpDisplay::SCALE_AUTO
Definition: vpDisplay.h:176
vpImageIo::read
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:206
vpVideoReader::end
bool end()
Definition: vpVideoReader.h:257
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpImage::insert
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1187
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:141
vpVideoReader::open
void open(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:196
vpParseArgv::parse
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:68
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:170
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
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:177
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
vpMouseButton::button3
Definition: vpMouseButton.h:54
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:652
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:701
vpMouseButton::vpMouseButtonType
vpMouseButtonType
Definition: vpMouseButton.h:51
vpImage::resize
void resize(const unsigned int h, const unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:865
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:265
vpVideoReader::setFileName
void setFileName(const char *filename)
Definition: vpVideoReader.cpp:91
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:238