Tracking of Surf key-points.
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if ((defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && \
defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000))
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#define GETOPTARGS "cdi:h"
void usage(const char *name, const char *badparam, std::string ipath)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
fprintf(stdout, "\n\
Tracking of Surf key-points.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-c] [-d] [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"line/image.%%04d.%s\"\n\
images. \n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-c\n\
Disable the mouse click. Useful to automaze the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n",
ipath.c_str(), ext.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'h':
usage(argv[0], NULL, ipath);
return false;
break;
default:
usage(argv[0], optarg_, ipath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string dirname;
std::string filename;
bool opt_click_allowed = true;
bool opt_display = true;
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
return EXIT_FAILURE;
}
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL, ipath);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
return EXIT_FAILURE;
}
unsigned int iter = 0;
std::ostringstream s;
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
try {
vpCTRACE <<
"Load: " << filename << std::endl;
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
return EXIT_FAILURE;
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#endif
if (opt_display) {
try {
display[0].init(Iref, 100, 100, "Display reference image");
} catch (...) {
return EXIT_FAILURE;
}
}
if (opt_display && opt_click_allowed) {
std::cout << "Click on the top left and the bottom right corners to "
"define the part of the image where the reference points "
"will be computed"
<< std::endl;
for (unsigned int i = 0; i < 2; i++) {
std::cout << corners[i] << std::endl;
}
} else {
}
if (opt_display) {
}
if (opt_click_allowed) {
std::cout << "Click on the image to continue" << std::endl;
}
vpKeyPointSurf surf;
unsigned int height, width;
height = (
unsigned int)(corners[1].get_i() - corners[0].
get_i());
width = (
unsigned int)(corners[1].get_j() - corners[0].
get_j());
surf.buildReference(Iref, corners[0], height, width);
if (opt_display) {
try {
display[1].init(Icur, (
int)(100 + Iref.
getWidth()), 100,
"Display current image");
} catch (...) {
return EXIT_FAILURE;
}
}
for (iter = 1; iter < 30; iter++) {
std::cout << "----------------------------------------------------------" << std::endl;
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
if (opt_display) {
}
unsigned int nbrPair = surf.matchPoint(Icur);
std::cout << "Number of matched point : " << nbrPair << std::endl;
if (opt_display) {
surf.display(Iref, Icur, 7);
}
}
return EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..."
<< std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
#else
std::cout << "You do not have OpenCV with non free module functionalities" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install OpenCV with non free module, configure again ViSP using cmake and build again this example"
<< std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
static const vpColor green
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
error that can be emited by ViSP classes.
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_ij(double ii, double jj)
unsigned int getWidth() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that implements the SURF key points and technics thanks to the OpenCV library.