Visual Servoing Platform  version 3.1.0
testSurfKeyPoint.cpp

Test matching points thanks to the surf key points.

/****************************************************************************
*
* 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 auto detection of dots.
*
* Authors:
* Nicolas Melchior
*
*****************************************************************************/
#include <iomanip>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#if (defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)) // Require opencv >= 1.1.0 < 3.0.0
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vision/vpKeyPointSurf.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\
Test dot tracking.\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 image \n\
\"ellipse/ellipse.pgm\"\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 filenameRef;
std::string filenameCur;
bool opt_click_allowed = true;
bool opt_display = true;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// 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 = vpIoTools::createFilePath(ipath, "cube");
// Build the name of the image file
filenameRef = vpIoTools::createFilePath(dirname, "image.0000.pgm");
filenameCur = vpIoTools::createFilePath(dirname, "image.0079.pgm");
// 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 {
std::cout << "Load: " << filenameRef << std::endl;
vpImageIo::read(Iref, filenameRef);
std::cout << "Load: " << filenameCur << std::endl;
vpImageIo::read(Icur, filenameCur);
} 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 " << filenameRef << "or" << filenameCur << 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];
#else
vpDisplayOpenCV display[2];
#endif
if (opt_display) {
// Display size is automatically defined by the image (I) size
display[0].init(Iref, 100, 100, "Reference image");
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
// therefore is is no longuer necessary to make a reference to the
// display variable.
// Flush the display
}
unsigned int nbrRef;
if (opt_click_allowed && opt_display) {
std::cout << "Select a part of the image where the reference points "
"will be computed. This part is a rectangle."
<< std::endl;
std::cout << "Click first on the top left corner and then on the "
"bottom right corner."
<< std::endl;
vpImagePoint corners[2];
for (int i = 0; i < 2; i++) {
vpDisplay::getClick(Iref, corners[i]);
}
vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
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);
}
else {
nbrRef = surf.buildReference(Iref);
}
if (nbrRef < 1) {
std::cerr << "No reference point" << std::endl;
exit(-1);
}
unsigned int nbrPair;
if (opt_display) {
display[1].init(Icur, (int)(100 + Iref.getWidth()), 100, "Current image");
// display variable.
// Flush the display
}
if (opt_click_allowed && opt_display) {
std::cout << "Select a part of the current image where the reference "
"will be search. This part is a rectangle."
<< std::endl;
std::cout << "Click first on the top left corner and then on the "
"bottom right corner."
<< std::endl;
vpImagePoint corners[2];
for (int i = 0; i < 2; i++) {
vpDisplay::getClick(Icur, corners[i]);
}
vpDisplay::displayRectangle(Icur, corners[0], corners[1], vpColor::green);
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
nbrPair = surf.matchPoint(Icur, corners[0], height, width);
}
else {
nbrPair = surf.matchPoint(Icur);
}
if (nbrPair < 1) {
std::cout << "No point matched" << std::endl;
}
if (opt_display) {
surf.display(Iref, Icur, 7);
if (opt_click_allowed) {
std::cout << "A click on the reference image to exit..." << std::endl;
}
}
return (0);
} catch (vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return (1);
}
}
#else
int main()
{
std::cerr << "You do not have 1.1.0 <= OpenCV < 2.3.0 that contains "
"opencv_nonfree component..."
<< std::endl;
}
#endif