Tracking of Surf key-points.
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if ((defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && \
defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000))
#include <visp3/vision/vpKeyPointSurf.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#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 \"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;
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)) {
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;
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
exit(-1);
}
if (!opt_ipath.empty())
ipath = opt_ipath;
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;
}
}
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);
}
unsigned int iter = 0;
std::ostringstream s;
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
try {
vpCTRACE <<
"Load: " << filename << std::endl;
} catch (...) {
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);
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#endif
if (opt_display) {
try {
display[0].
init(Iref, 100, 100,
"Display reference image");
} catch (...) {
exit(-1);
}
}
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++) {
std::cout << corners[i] << std::endl;
}
} else {
}
if (opt_display) {
}
if (opt_click_allowed) {
std::cout << "Click on the image to continue" << std::endl;
}
vpKeyPointSurf surf;
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());
surf.buildReference(Iref, corners[0], height, width);
if (opt_display) {
try {
display[1].
init(Icur, (
int)(100 + Iref.
getWidth()), 100,
"Display current image");
} catch (...) {
exit(-1);
}
}
for (iter = 1; iter < 30; iter++) {
std::cout << "----------------------------------------------------------" << std::endl;
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
if (opt_display) {
}
unsigned int nbrPair = surf.matchPoint(Icur);
std::cout << "Number of matched point : " << nbrPair << std::endl;
if (opt_display) {
surf.display(Iref, Icur, 7);
}
}
return EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
#else
std::cout << "You do not have OpenCV with non free module functionalities" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install OpenCV with non free module, configure again ViSP using cmake and build again this example" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif