testKeyPoint-3.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
    env_ipath = vpIoTools::getViSPImagesDataPath();

    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);

    vpVideoReader g;
    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.setDownScalingFactor(vpDisplay::SCALE_AUTO);
      display.init(Imatch, 0, 0, "ORB keypoints matching");
    }

    bool opt_click = false;
    vpMouseButton::vpMouseButtonType button;
    while(!g.end()) {
      g.acquire(Icur);
      Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));

      if(opt_display) {
        vpDisplay::display(Imatch);
      }

      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);
        }

        vpDisplay::flush(Imatch);
      }

      //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