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testKeyPoint-3.cpp

Test keypoint matching with mostly OpenCV functions calls to detect potential memory leaks in testKeyPoint.cpp.

/****************************************************************************
*
* 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
* ("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://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 keypoint matching with mostly OpenCV functions calls
* to detect potential memory leaks in testKeyPoint.cpp.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdh"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Test keypoints matching.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: \n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, 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 'h': usage(argv[0], NULL); return false; break;
default:
usage(argv[0], optarg_);
return false; break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
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;
bool opt_click_allowed = true;
bool opt_display = true;
// Read the command line options
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit (-1);
}
//Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH environment variable value
if(env_ipath.empty()) {
std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment variable value." << std::endl;
return -1;
}
vpImage<unsigned char> Iref, Icur, Imatch;
//Set the path location of the image sequence
std::string dirname = vpIoTools::createFilePath(env_ipath, "ViSP-images/mbt/cube");
//Build the name of the image files
std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
vpImageIo::read(Iref, filenameRef);
std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");
//Init keypoints
cv::Ptr<cv::FeatureDetector> detector;
cv::Ptr<cv::DescriptorExtractor> extractor;
cv::Ptr<cv::DescriptorMatcher> matcher;
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
detector = cv::ORB::create();
extractor = cv::ORB::create();
#else
detector = cv::FeatureDetector::create("ORB");
extractor = cv::DescriptorExtractor::create("ORB");
#endif
matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
std::vector<cv::KeyPoint> trainKeyPoints;
cv::Mat matImg, trainDescriptors;
vpImageConvert::convert(Iref, matImg);
detector->detect(matImg, trainKeyPoints);
extractor->compute(matImg, trainKeyPoints, trainDescriptors);
g.setFileName(filenameCur);
g.open(Icur);
g.acquire(Icur);
Imatch.resize(Icur.getHeight(), 2*Icur.getWidth());
Imatch.insert(Iref, vpImagePoint(0,0));
#if defined VISP_HAVE_X11
vpDisplayX display;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display;
#else
vpDisplayOpenCV display;
#endif
if (opt_display) {
display.init(Imatch, 0, 0, "ORB keypoints matching");
}
bool opt_click = false;
while(!g.end()) {
g.acquire(Icur);
Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
if(opt_display) {
}
vpImageConvert::convert(Icur, matImg);
std::vector<cv::KeyPoint> queryKeyPoints;
detector->detect(matImg, queryKeyPoints);
cv::Mat queryDescriptors;
extractor->compute(matImg, queryKeyPoints, queryDescriptors);
std::vector<std::vector<cv::DMatch> > knn_matches;
std::vector<cv::DMatch> matches;
matcher->knnMatch(queryDescriptors, trainDescriptors, knn_matches, 2);
for(std::vector<std::vector<cv::DMatch> >::const_iterator it = knn_matches.begin(); it != knn_matches.end(); ++it) {
if(it->size() > 1) {
double ratio = (*it)[0].distance / (*it)[1].distance;
if(ratio < 0.85) {
matches.push_back((*it)[0]);
}
}
}
if(opt_display) {
for(std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
vpImagePoint leftPt(trainKeyPoints[(size_t) it->trainIdx].pt.y, trainKeyPoints[(size_t) it->trainIdx].pt.x);
vpImagePoint rightPt(queryKeyPoints[(size_t) it->queryIdx].pt.y, queryKeyPoints[(size_t) it->queryIdx].pt.x
+ Iref.getWidth());
vpDisplay::displayLine(Imatch, leftPt, rightPt, vpColor::green);
}
}
//Click requested to process next image
if (opt_click_allowed && opt_display) {
if(opt_click) {
vpDisplay::getClick(Imatch, button, true);
if(button == vpMouseButton::button3) {
opt_click = false;
}
} else {
//Use right click to enable/disable step by step tracking
if(vpDisplay::getClick(Imatch, button, false)) {
if (button == vpMouseButton::button3) {
opt_click = true;
}
else if(button == vpMouseButton::button1) {
break;
}
}
}
}
}
} catch(vpException &e) {
std::cerr << e.what() << std::endl;
return -1;
}
std::cout << "testKeyPoint-3 is ok !" << std::endl;
return 0;
}
#else
int main() {
std::cerr << "You need OpenCV library." << std::endl;
return 0;
}
#endif