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/vision/vpKeyPoint.h>
56 #define GETOPTARGS "cdh"
58 void usage(
const char *name,
const char *badparam);
59 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
67 void usage(
const char *name,
const char *badparam)
70 Test keypoint descriptor extraction.\n\
73 %s [-c] [-d] [-h]\n", name);
79 Disable the mouse click. Useful to automaze the \n\
80 execution of this program without humain intervention.\n\
83 Turn off the display.\n\
89 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
103 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
111 click_allowed =
false;
117 usage(argv[0], NULL);
122 usage(argv[0], optarg_);
128 if ((c == 1) || (c == -1)) {
130 usage(argv[0], NULL);
131 std::cerr <<
"ERROR: " << std::endl;
132 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
147 std::string getOpenCVType(
int type)
149 std::string type_string =
"";
153 type_string =
"CV_8U";
157 type_string =
"CV_8S";
161 type_string =
"CV_16U";
165 type_string =
"CV_16S";
169 type_string =
"CV_32S";
173 type_string =
"CV_32F";
177 type_string =
"CV_64F";
181 type_string =
"Problem with type !";
188 template<
typename Type>
189 void run_test(
const std::string &env_ipath,
bool opt_click_allowed,
bool opt_display,
200 #if defined VISP_HAVE_X11
202 #elif defined VISP_HAVE_GTK
204 #elif defined VISP_HAVE_GDI
211 display.init(I, 0, 0,
"KeyPoints detection.");
216 std::vector<std::string> descriptorNames;
217 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
218 descriptorNames.push_back(
"SIFT");
219 descriptorNames.push_back(
"SURF");
221 descriptorNames.push_back(
"ORB");
222 #if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
223 descriptorNames.push_back(
"BRISK");
225 #if defined(VISP_HAVE_OPENCV_XFEATURES2D) || (VISP_HAVE_OPENCV_VERSION < 0x030000)
226 descriptorNames.push_back(
"BRIEF");
227 #if (VISP_HAVE_OPENCV_VERSION >= 0x020402)
228 descriptorNames.push_back(
"FREAK");
231 #if defined(VISP_HAVE_OPENCV_XFEATURES2D)
232 descriptorNames.push_back(
"DAISY");
233 descriptorNames.push_back(
"LATCH");
235 #if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
236 descriptorNames.push_back(
"VGG");
237 descriptorNames.push_back(
"BoostDesc");
239 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
240 descriptorNames.push_back(
"KAZE");
241 descriptorNames.push_back(
"AKAZE");
244 std::string detectorName =
"FAST";
246 std::vector<cv::KeyPoint> kpts;
248 keyPoints.
detect(I, kpts);
249 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << detectorName <<
" method." << std::endl;
251 std::stringstream ss;
252 ss <<
"No keypoints detected with " << detectorName <<
" and image:" << filename <<
"." << std::endl;
256 for (std::vector<std::string>::const_iterator itd = descriptorNames.begin(); itd != descriptorNames.end(); ++itd) {
259 if (*itd ==
"KAZE") {
260 detectorName =
"KAZE";
262 keyPoints.
detect(I, kpts);
263 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << detectorName <<
" method." << std::endl;
265 std::stringstream ss;
266 ss <<
"No keypoints detected with " << detectorName <<
" and image:" << filename <<
"." << std::endl;
269 }
else if (*itd ==
"AKAZE") {
270 detectorName =
"AKAZE";
272 keyPoints.
detect(I, kpts);
273 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << detectorName <<
" method." << std::endl;
275 std::stringstream ss;
276 ss <<
"No keypoints detected with " << detectorName <<
" and image:" << filename <<
"." << std::endl;
279 }
else if (*itd ==
"BoostDesc") {
280 #if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
281 cv::Ptr<cv::Feature2D> boostDesc = keyPoints.
getExtractor(
"BoostDesc");
283 boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256,
true, 5.0f);
289 keyPoints.
extract(I, kpts, descriptor);
292 std::cout <<
"Descriptor: " << descriptor.rows <<
"x" << descriptor.cols
293 <<
" (rows x cols) ; type=" << getOpenCVType(descriptor.type()) <<
" for " << *itd <<
" method in " << t
294 <<
" ms." << std::endl;
295 if (descriptor.empty()) {
296 std::stringstream ss;
297 ss <<
"No descriptor extracted with " << *itd <<
" and image:" << filename <<
"." << std::endl;
304 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
306 imPt.
set_uv(it->pt.x, it->pt.y);
313 if (opt_click_allowed) {
321 std::map<vpKeyPoint::vpFeatureDescriptorType, std::string> mapOfDescriptorNames = keyPoints.
getExtractorNames();
327 detectorName =
"KAZE";
329 keyPoints.
detect(I, kpts);
330 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << detectorName <<
" method." << std::endl;
332 std::stringstream ss;
333 ss <<
"No keypoints detected with " << detectorName <<
" and image:" << filename <<
"." << std::endl;
337 detectorName =
"AKAZE";
339 keyPoints.
detect(I, kpts);
340 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << detectorName <<
" method." << std::endl;
342 std::stringstream ss;
343 ss <<
"No keypoints detected with " << detectorName <<
" and image:" << filename <<
"." << std::endl;
347 #if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
348 detectorName =
"FAST";
350 keyPoints.
detect(I, kpts);
351 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << detectorName <<
" method." << std::endl;
353 std::stringstream ss;
354 ss <<
"No keypoints detected with " << detectorName <<
" and image:" << filename <<
"." << std::endl;
358 cv::Ptr<cv::Feature2D> boostDesc = keyPoints.
getExtractor(
"BoostDesc");
360 boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256,
true, 5.0f);
366 keyPoints.
extract(I, kpts, descriptor);
369 std::cout <<
"Descriptor: " << descriptor.rows <<
"x" << descriptor.cols
370 <<
" (rows x cols) ; type=" << getOpenCVType(descriptor.type()) <<
" for "
373 if (descriptor.empty()) {
374 std::stringstream ss;
376 <<
" and image:" << filename <<
"." << std::endl;
383 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
385 imPt.
set_uv(it->pt.x, it->pt.y);
392 if (opt_click_allowed) {
404 int main(
int argc,
const char **argv)
407 std::string env_ipath;
408 bool opt_click_allowed =
true;
409 bool opt_display =
true;
412 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
420 if (env_ipath.empty()) {
421 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
430 std::cout <<
"-- Test on gray level images" << std::endl;
431 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
437 std::cout <<
"-- Test on color images" << std::endl;
438 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
442 std::cerr << e.
what() << std::endl;
446 std::cout <<
"testKeyPoint-6 is ok !" << std::endl;
454 std::cerr <<
"You need OpenCV library." << std::endl;