Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
testKeyPoint-7.cpp

Test saving / loading learning file.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test saving / loading learning files for vpKeyPoint class.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <iomanip>
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
#include <visp3/core/vpException.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vision/vpKeyPoint.h>
// List of allowed command line options
#define GETOPTARGS "cdo:h"
void usage(const char *name, const char *badparam, const std::string &opath, const std::string &user)
{
fprintf(stdout, "\n\
Test save / load learning files for vpKeyPoint class.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: \n\
\n\
-o <output image path> %s\n\
Set image output path.\n\
From this directory, creates the \"%s\"\n\
subdirectory depending on the username, where \n\
learning files will be written.\n\
\n\
-h\n\
Print the help.\n", opath.c_str(), user.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &opath, const std::string &user)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
break; // not used, to avoid error with default arguments ctest
case 'd':
break; // not used, to avoid error with default arguments ctest
case 'o':
opath = optarg_;
break;
case 'h':
usage(argv[0], NULL, opath, user);
return false;
break;
default:
usage(argv[0], optarg_, opath, user);
return false;
break;
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, opath, user);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
bool compareKeyPoints(const std::vector<cv::KeyPoint> &keypoints1, const std::vector<cv::KeyPoint> &keypoints2)
{
if (keypoints1.size() != keypoints2.size()) {
return false;
}
for (size_t cpt = 0; cpt < keypoints1.size(); cpt++) {
if (!vpMath::equal(keypoints1[cpt].angle, keypoints2[cpt].angle, std::numeric_limits<float>::epsilon())) {
std::cerr << std::fixed << std::setprecision(9) << "keypoints1[cpt].angle=" << keypoints1[cpt].angle
<< " ; keypoints2[cpt].angle=" << keypoints2[cpt].angle << std::endl;
return false;
}
if (keypoints1[cpt].class_id != keypoints2[cpt].class_id) {
std::cerr << "keypoints1[cpt].class_id=" << keypoints1[cpt].class_id
<< " ; keypoints2[cpt].class_id=" << keypoints2[cpt].class_id << std::endl;
return false;
}
if (keypoints1[cpt].octave != keypoints2[cpt].octave) {
std::cerr << "keypoints1[cpt].octave=" << keypoints1[cpt].octave
<< " ; keypoints2[cpt].octave=" << keypoints2[cpt].octave << std::endl;
return false;
}
if (!vpMath::equal(keypoints1[cpt].pt.x, keypoints2[cpt].pt.x, std::numeric_limits<float>::epsilon())) {
std::cerr << std::fixed << std::setprecision(9) << "keypoints1[cpt].pt.x=" << keypoints1[cpt].pt.x
<< " ; keypoints2[cpt].pt.x=" << keypoints2[cpt].pt.x << std::endl;
return false;
}
if (!vpMath::equal(keypoints1[cpt].pt.y, keypoints2[cpt].pt.y, std::numeric_limits<float>::epsilon())) {
std::cerr << std::fixed << std::setprecision(9) << "keypoints1[cpt].pt.y=" << keypoints1[cpt].pt.y
<< " ; keypoints2[cpt].pt.y=" << keypoints2[cpt].pt.y << std::endl;
return false;
}
if (!vpMath::equal(keypoints1[cpt].response, keypoints2[cpt].response, std::numeric_limits<float>::epsilon())) {
std::cerr << std::fixed << std::setprecision(9) << "keypoints1[cpt].response=" << keypoints1[cpt].response
<< " ; keypoints2[cpt].response=" << keypoints2[cpt].response << std::endl;
return false;
}
if (!vpMath::equal(keypoints1[cpt].size, keypoints2[cpt].size, std::numeric_limits<float>::epsilon())) {
std::cerr << std::fixed << std::setprecision(9) << "keypoints1[cpt].size=" << keypoints1[cpt].size
<< " ; keypoints2[cpt].size=" << keypoints2[cpt].size << std::endl;
return false;
}
}
return true;
}
bool compareDescriptors(const cv::Mat &descriptors1, const cv::Mat &descriptors2)
{
if (descriptors1.rows != descriptors2.rows || descriptors1.cols != descriptors2.cols ||
descriptors1.type() != descriptors2.type()) {
return false;
}
for (int i = 0; i < descriptors1.rows; i++) {
for (int j = 0; j < descriptors1.cols; j++) {
switch (descriptors1.type()) {
case CV_8U:
if (descriptors1.at<unsigned char>(i, j) != descriptors2.at<unsigned char>(i, j)) {
std::cerr << "descriptors1.at<unsigned char>(i,j)=" << descriptors1.at<unsigned char>(i, j)
<< " ; descriptors2.at<unsigned char>(i,j)=" << descriptors2.at<unsigned char>(i, j) << std::endl;
return false;
}
break;
case CV_8S:
if (descriptors1.at<char>(i, j) != descriptors2.at<char>(i, j)) {
std::cerr << "descriptors1.at<char>(i,j)=" << descriptors1.at<char>(i, j)
<< " ; descriptors2.at<char>(i,j)=" << descriptors2.at<char>(i, j) << std::endl;
return false;
}
break;
case CV_16U:
if (descriptors1.at<unsigned short>(i, j) != descriptors2.at<unsigned short>(i, j)) {
std::cerr << "descriptors1.at<unsigned short>(i,j)=" << descriptors1.at<unsigned short>(i, j)
<< " ; descriptors2.at<unsigned short>(i,j)=" << descriptors2.at<unsigned short>(i, j) << std::endl;
return false;
}
break;
case CV_16S:
if (descriptors1.at<short>(i, j) != descriptors2.at<short>(i, j)) {
std::cerr << "descriptors1.at<short>(i,j)=" << descriptors1.at<short>(i, j)
<< " ; descriptors2.at<short>(i,j)=" << descriptors2.at<short>(i, j) << std::endl;
return false;
}
break;
case CV_32S:
if (descriptors1.at<int>(i, j) != descriptors2.at<int>(i, j)) {
std::cerr << "descriptors1.at<int>(i,j)=" << descriptors1.at<int>(i, j)
<< " ; descriptors2.at<int>(i,j)=" << descriptors2.at<int>(i, j) << std::endl;
return false;
}
break;
case CV_32F:
if (!vpMath::equal(descriptors1.at<float>(i, j), descriptors2.at<float>(i, j),
std::numeric_limits<float>::epsilon())) {
std::cerr << std::fixed << std::setprecision(9)
<< "descriptors1.at<float>(i,j)=" << descriptors1.at<float>(i, j)
<< " ; descriptors2.at<float>(i,j)=" << descriptors2.at<float>(i, j) << std::endl;
return false;
}
break;
case CV_64F:
if (!vpMath::equal(descriptors1.at<double>(i, j), descriptors2.at<double>(i, j),
std::numeric_limits<double>::epsilon())) {
std::cerr << std::fixed << std::setprecision(17)
<< "descriptors1.at<double>(i,j)=" << descriptors1.at<double>(i, j)
<< " ; descriptors2.at<double>(i,j)=" << descriptors2.at<double>(i, j) << std::endl;
return false;
}
break;
default:
return false;
break;
}
}
}
return true;
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_opath;
std::string username;
std::string opath;
std::string filename;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
if (env_ipath.empty()) {
throw vpException(vpException::ioError, "Please set the VISP_INPUT_IMAGE_PATH environment variable value.");
}
// Set the default output path
#if defined(_WIN32)
opt_opath = "C:/temp";
#else
opt_opath = "/tmp";
#endif
// Get the user login name
// Read the command line options
if (getOptions(argc, argv, opt_opath, username) == false) {
throw vpException(vpException::fatalError, "getOptions(argc, argv, opt_opath, username) == false");
}
// Get the option values
if (!opt_opath.empty()) {
opath = opt_opath;
}
// Append to the output path string, the login name of the user
opath = vpIoTools::createFilePath(opath, username);
// Set the path location of the image sequence
std::string dirname = vpIoTools::createFilePath(env_ipath, "Klimt");
// Build the name of the image files
std::string img_filename = vpIoTools::createFilePath(dirname, "/Klimt.ppm");
vpImageIo::read(I, img_filename);
vpKeyPoint keyPoints;
// Test with binary descriptor
{
std::string keypointName = "ORB";
keyPoints.setDetector(keypointName);
keyPoints.setExtractor(keypointName);
keyPoints.buildReference(I);
std::vector<cv::KeyPoint> trainKeyPoints;
keyPoints.getTrainKeyPoints(trainKeyPoints);
cv::Mat trainDescriptors = keyPoints.getTrainDescriptors();
if (trainKeyPoints.empty() || trainDescriptors.empty() || (int)trainKeyPoints.size() != trainDescriptors.rows) {
throw vpException(vpException::fatalError, "Problem when detecting "
"keypoints or when "
"computing descriptors !");
}
// Save in binary with training images
filename = vpIoTools::createFilePath(opath, "bin_with_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_bin_with_img.bin");
keyPoints.saveLearningData(filename, true, true);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint1;
read_keypoint1.loadLearningData(filename, true);
std::vector<cv::KeyPoint> trainKeyPoints_read;
read_keypoint1.getTrainKeyPoints(trainKeyPoints_read);
cv::Mat trainDescriptors_read = read_keypoint1.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved "
"in binary with train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"binary with train images saved !");
}
// Save in binary with no training images
filename = vpIoTools::createFilePath(opath, "bin_without_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_bin_without_img.bin");
keyPoints.saveLearningData(filename, true, false);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint2;
read_keypoint2.loadLearningData(filename, true);
trainKeyPoints_read.clear();
read_keypoint2.getTrainKeyPoints(trainKeyPoints_read);
trainDescriptors_read = read_keypoint2.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"binary without train images !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"binary without train images !");
}
#if defined(VISP_HAVE_XML2)
// Save in xml with training images
filename = vpIoTools::createFilePath(opath, "xml_with_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_xml_with_img.xml");
keyPoints.saveLearningData(filename, false, true);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint3;
read_keypoint3.loadLearningData(filename, false);
trainKeyPoints_read.clear();
read_keypoint3.getTrainKeyPoints(trainKeyPoints_read);
trainDescriptors_read = read_keypoint3.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"xml with train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"xml with train images saved !");
}
// Save in xml without training images
filename = vpIoTools::createFilePath(opath, "xml_without_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_xml_without_img.xml");
keyPoints.saveLearningData(filename, false, false);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint4;
read_keypoint4.loadLearningData(filename, false);
trainKeyPoints_read.clear();
read_keypoint4.getTrainKeyPoints(trainKeyPoints_read);
trainDescriptors_read = read_keypoint4.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"xml without train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"xml without train images saved !");
}
#endif
std::cout << "Saving / loading learning files with binary descriptor are ok !" << std::endl;
}
// Test with floating point descriptor
#if defined(VISP_HAVE_OPENCV_NONFREE) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(VISP_HAVE_OPENCV_XFEATURES2D))
{
std::string keypointName = "SIFT";
keyPoints.setDetector(keypointName);
keyPoints.setExtractor(keypointName);
keyPoints.buildReference(I);
std::vector<cv::KeyPoint> trainKeyPoints;
keyPoints.getTrainKeyPoints(trainKeyPoints);
cv::Mat trainDescriptors = keyPoints.getTrainDescriptors();
if (trainKeyPoints.empty() || trainDescriptors.empty() || (int)trainKeyPoints.size() != trainDescriptors.rows) {
throw vpException(vpException::fatalError, "Problem when detecting keypoints or when "
"computing descriptors (SIFT) !");
}
// Save in binary with training images
filename = vpIoTools::createFilePath(opath, "bin_with_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_bin_with_img.bin");
keyPoints.saveLearningData(filename, true, true);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint1;
read_keypoint1.loadLearningData(filename, true);
std::vector<cv::KeyPoint> trainKeyPoints_read;
read_keypoint1.getTrainKeyPoints(trainKeyPoints_read);
cv::Mat trainDescriptors_read = read_keypoint1.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"binary with train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"binary with train images saved !");
}
// Save in binary with no training images
filename = vpIoTools::createFilePath(opath, "bin_without_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_bin_without_img.bin");
keyPoints.saveLearningData(filename, true, false);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint2;
read_keypoint2.loadLearningData(filename, true);
trainKeyPoints_read.clear();
read_keypoint2.getTrainKeyPoints(trainKeyPoints_read);
trainDescriptors_read = read_keypoint2.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"binary without train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"binary without train images saved !");
}
#if defined(VISP_HAVE_XML2)
// Save in xml with training images
filename = vpIoTools::createFilePath(opath, "xml_with_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_xml_with_img.xml");
keyPoints.saveLearningData(filename, false, true);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint3;
read_keypoint3.loadLearningData(filename, false);
trainKeyPoints_read.clear();
read_keypoint3.getTrainKeyPoints(trainKeyPoints_read);
trainDescriptors_read = read_keypoint3.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"xml with train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"xml with train images saved !");
}
// Save in xml without training images
filename = vpIoTools::createFilePath(opath, "xml_without_img");
filename = vpIoTools::createFilePath(filename, "test_save_in_xml_without_img.xml");
keyPoints.saveLearningData(filename, false, false);
// Test if save is ok
if (!vpIoTools::checkFilename(filename)) {
std::stringstream ss;
ss << "Problem when saving file=" << filename;
throw vpException(vpException::ioError, ss.str().c_str());
}
// Test if read is ok
vpKeyPoint read_keypoint4;
read_keypoint4.loadLearningData(filename, false);
trainKeyPoints_read.clear();
read_keypoint4.getTrainKeyPoints(trainKeyPoints_read);
trainDescriptors_read = read_keypoint4.getTrainDescriptors();
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_read)) {
throw vpException(vpException::fatalError, "Problem with trainKeyPoints when reading learning file saved in "
"xml without train images saved !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_read)) {
throw vpException(vpException::fatalError, "Problem with trainDescriptors when reading "
"learning file saved in "
"xml without train images saved !");
}
#endif
std::cout << "Saving / loading learning files with floating point "
"descriptor are ok !"
<< std::endl;
// Test vpKeyPoint::reset()
vpKeyPoint keypoint_reset;
keypointName = "ORB";
keypoint_reset.setDetector(keypointName);
keypoint_reset.setExtractor(keypointName);
keypoint_reset.buildReference(I);
// reset
keypoint_reset.reset();
keypointName = "SIFT";
keypoint_reset.setDetector(keypointName);
keypoint_reset.setExtractor(keypointName);
keypoint_reset.buildReference(I);
std::vector<cv::KeyPoint> trainKeyPoints_reset;
keypoint_reset.getTrainKeyPoints(trainKeyPoints_reset);
cv::Mat trainDescriptors_reset = keypoint_reset.getTrainDescriptors();
// If reset is ok, we should get the same keypoints and the same
// descriptors
if (!compareKeyPoints(trainKeyPoints, trainKeyPoints_reset)) {
throw vpException(vpException::fatalError, "Problem with vpKeyPoint::reset() and trainKeyPoints !");
}
if (!compareDescriptors(trainDescriptors, trainDescriptors_reset)) {
throw vpException(vpException::fatalError, "Problem with vpKeyPoint::reset() and trainDescriptors !");
}
std::cout << "vpKeyPoint::reset() is ok with trainKeyPoints and "
"trainDescriptors !"
<< std::endl;
}
#endif
} catch (const vpException &e) {
std::cerr << e.what() << std::endl;
return -1;
}
std::cout << "Saving / loading learning files are ok !" << std::endl;
std::cout << "testKeyPoint-7 is ok !" << std::endl;
return 0;
}
#else
int main()
{
std::cerr << "You need OpenCV library." << std::endl;
return 0;
}
#endif