ViSP  2.9.0
keyPointSurf.cpp

Tracking of Surf key-points.

/****************************************************************************
*
* $Id: keyPointSurf.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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:
* Tracking of Surf key points.
*
* Authors:
* Nicolas Melchior
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
#include <stdlib.h>
#include <stdio.h>
#include <sstream>
#include <iomanip>
#if ((defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION >= 0x010100))
#include <visp/vpKeyPointSurf.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpImagePoint.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpParseArgv.h>
#include <visp/vpIoTools.h>
// List of allowed command line options
#define GETOPTARGS "cdi:h"
void usage(const char *name, const char *badparam, std::string ipath);
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam, std::string ipath)
{
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 \"ViSP-images/line/image.%%04d.pgm\"\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());
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;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
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)) {
// standalone param or error
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;
// Get the VISP_IMAGE_PATH environment variable value
char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
if (ptenv != NULL)
env_ipath = ptenv;
// Set the default input path
if (! env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
opt_display) == false) {
exit (-1);
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
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;
}
}
// Test if an input path is set
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;
exit(-1);
}
// Declare an image, this is a gray level image (unsigned char)
// it size is not defined yet, it will be defined when the image will
// read on the disk
// Set the path location of the image sequence
dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
// Build the name of the image file
unsigned int iter = 0; // Image number
std::ostringstream s;
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
filename = dirname + s.str();
// Read the PGM image named "filename" on the disk, and put the
// bitmap into the image structure I. I is initialized to the
// correct size
//
// exception readPGM may throw various exception if, for example,
// the file does not exist, or if the memory cannot be allocated
try{
vpCTRACE << "Load: " << filename << std::endl;
vpImageIo::read(Iref, filename) ;
}
catch(...)
{
// an exception is throwned if an exception from readPGM has been catched
// here this will result in the end of the program
// Note that another error message has been printed from readPGM
// to give more information about the error
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;
exit(-1);
}
// We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
vpDisplayX display[2];
#elif defined VISP_HAVE_GTK
vpDisplayGTK display[2];
#elif defined VISP_HAVE_GDI
vpDisplayGDI display[2];
#endif
if (opt_display) {
try{
// Display size is automatically defined by the image (I) size
display[0].init(Iref, 100, 100,"Display reference image") ;
}
catch(...)
{
vpERROR_TRACE("Error while displaying the image") ;
exit(-1);
}
}
vpImagePoint corners[2];
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++)
{
vpDisplay::getClick(Iref, corners[i]);
std::cout << corners[i] << std::endl;
}
}
else
{
corners[0].set_ij(156,209);
corners[1].set_ij(272,378);
}
if (opt_display)
{
//Display the rectangle which defines the part of the image where the reference points are computed.
vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
}
if (opt_click_allowed)
{
std::cout << "Click on the image to continue" << std::endl;
}
// unsigned int nbrRef;
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());
//Computes the reference points
/* nbrRef = */ surf.buildReference(Iref, corners[0], height, width);
unsigned int nbrPair = 0;
vpImageIo::read(Icur, filename);
if (opt_display) {
try{
// Display size is automatically defined by the image (I) size
display[1].init(Icur, (int)(100+Iref.getWidth()), 100,"Display current image") ;
}
catch(...)
{
vpERROR_TRACE("Error while displaying the image") ;
exit(-1);
}
}
for (iter = 1 ; iter < 30 ; iter++)
{
std::cout <<"----------------------------------------------------------"<<std::endl;
// set the new image name
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
filename = dirname + s.str();
// read the image
vpImageIo::read(Icur, filename);
if (opt_display) {
// Display the image
}
nbrPair = surf.matchPoint(Icur);
std::cout << "Number of matched point : " << nbrPair <<std::endl;
if (opt_display)
{
// Display the matched features
surf.display(Iref, Icur, 7);
vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
}
}
return 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int
main()
{
#if ( ! (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) )
vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
#else
vpERROR_TRACE("You do not have OpenCV-1.1.0 or a more recent release that contains opencv_nonfree component...");
#endif
}
#endif