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Visual Servoing Platform
version 3.3.0
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41 #include <visp3/core/vpConfig.h>
43 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
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>
57 #define GETOPTARGS "cdh"
59 void usage(
const char *name,
const char *badparam);
60 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
70 void usage(
const char *name,
const char *badparam)
73 Test keypoints matching.\n\
76 %s [-c] [-d] [-h]\n", name);
82 Disable the mouse click. Useful to automate the \n\
83 execution of this program without human intervention.\n\
86 Turn off the display.\n\
92 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
106 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
114 click_allowed =
false;
120 usage(argv[0], NULL);
125 usage(argv[0], optarg_);
131 if ((c == 1) || (c == -1)) {
133 usage(argv[0], NULL);
134 std::cerr <<
"ERROR: " << std::endl;
135 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
142 template<
typename Type>
143 void run_test(
const std::string &env_ipath,
bool opt_click_allowed,
bool opt_display,
155 vpKeyPoint keypoints(
"ORB",
"ORB",
"BruteForce-Hamming");
156 std::cout <<
"Build " << keypoints.buildReference(Iref) <<
" reference points." << std::endl;
166 #if defined VISP_HAVE_X11
168 #elif defined VISP_HAVE_GTK
170 #elif defined VISP_HAVE_GDI
178 display.init(Imatch, 0, 0,
"ORB keypoints matching");
181 bool opt_click =
false;
192 keypoints.matchPoint(Icur);
194 keypoints.displayMatching(Iref, Imatch);
201 if (opt_click_allowed && opt_display) {
226 int main(
int argc,
const char **argv)
229 std::string env_ipath;
230 bool opt_click_allowed =
true;
231 bool opt_display =
true;
234 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
242 if (env_ipath.empty()) {
243 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
252 std::cout <<
"-- Test on gray level images" << std::endl;
253 run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
259 std::cout <<
"-- Test on color images" << std::endl;
260 run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
264 std::cerr << e.
what() << std::endl;
268 std::cout <<
"testKeyPoint is ok !" << std::endl;
274 std::cerr <<
"You need OpenCV library." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static void read(vpImage< unsigned char > &I, const std::string &filename)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Display for windows using GDI (available on any windows 32 platform).
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void open(vpImage< vpRGBa > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void setFileName(const std::string &filename)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
const char * what() const
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
unsigned int getHeight() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void flush(const vpImage< unsigned char > &I)
Definition of the vpImage class member functions.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
error that can be emited by ViSP classes.
void acquire(vpImage< vpRGBa > &I)
unsigned int getWidth() const