testKeyPoint-2.cpp

Test keypoint matching and pose estimation.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 keypoint matching and pose estimation.
 *
 * Authors:
 * Souriya Trinh
 *
 *****************************************************************************/

#include <iostream>

#include <visp3/core/vpConfig.h>

#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)

#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/io/vpVideoReader.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/vision/vpKeyPoint.h>

// List of allowed command line options
#define GETOPTARGS "cdph"

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] [-p] [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               \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\
  -p \n\
     Use parallel RANSAC.\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,
                bool &use_parallel_ransac)
{
  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 'p':
      use_parallel_ransac = true;
      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;
    bool use_parallel_ransac = false;

    // Read the command line options
    if (getOptions(argc, argv, opt_click_allowed, opt_display, use_parallel_ransac) == 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> I;

    // Set the path location of the image sequence
    std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");

    // Build the name of the image files
    std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
    vpImageIo::read(I, filenameRef);
    std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");

#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(I, 0, 0, "ORB keypoints matching and pose estimation");
    }

    vpCameraParameters cam;
    vpMbEdgeTracker tracker;
    // Load config for tracker
    std::string tracker_config_file = vpIoTools::createFilePath(env_ipath, "mbt/cube.xml");

#ifdef VISP_HAVE_XML2
    tracker.loadConfigFile(tracker_config_file);
    tracker.getCameraParameters(cam);
#else
    vpMe me;
    me.setMaskSize(5);
    me.setMaskNumber(180);
    me.setRange(8);
    me.setThreshold(10000);
    me.setMu1(0.5);
    me.setMu2(0.5);
    me.setSampleStep(4);
    me.setNbTotalSample(250);
    tracker.setMovingEdge(me);
    cam.initPersProjWithoutDistortion(547.7367575, 542.0744058, 338.7036994, 234.5083345);
    tracker.setCameraParameters(cam);
    tracker.setNearClippingDistance(0.01);
    tracker.setFarClippingDistance(100.0);
    tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
#endif

    tracker.setAngleAppear(vpMath::rad(89));
    tracker.setAngleDisappear(vpMath::rad(89));

    // Load CAO model
    std::string cao_model_file = vpIoTools::createFilePath(env_ipath, "mbt/cube.cao");
    tracker.loadModel(cao_model_file);

    // Initialize the pose
    std::string init_file = vpIoTools::createFilePath(env_ipath, "mbt/cube.init");
    if (opt_display && opt_click_allowed) {
      tracker.initClick(I, init_file);
    } else {
      vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
      tracker.initFromPose(I, cMoi);
    }

    // Get the init pose
    vpHomogeneousMatrix cMo;
    tracker.getPose(cMo);

    // Init keypoints
    vpKeyPoint keypoints("ORB", "ORB", "BruteForce-Hamming");
    keypoints.setRansacParallel(use_parallel_ransac);
#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
    // Bug when using LSH index with FLANN and OpenCV 2.3.1.
    // see http://code.opencv.org/issues/1741 (Bug #1741)
    keypoints.setMatcher("FlannBased");
#if (VISP_HAVE_OPENCV_VERSION < 0x030000)
    keypoints.setDetectorParameter("ORB", "nLevels", 1);
#else
    cv::Ptr<cv::ORB> orb_detector = keypoints.getDetector("ORB").dynamicCast<cv::ORB>();
    if (orb_detector) {
      orb_detector->setNLevels(1);
    }
#endif
#endif

    // Detect keypoints on the current image
    std::vector<cv::KeyPoint> trainKeyPoints;
    double elapsedTime;
    keypoints.detect(I, trainKeyPoints, elapsedTime);

    // Keep only keypoints on the cube
    std::vector<vpPolygon> polygons;
    std::vector<std::vector<vpPoint> > roisPt;
    std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair =
        tracker.getPolygonFaces(true); // To detect an issue with CI
    polygons = pair.first;
    roisPt = pair.second;

    // Compute the 3D coordinates
    std::vector<cv::Point3f> points3f;
    vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);

    // Build the reference keypoints
    keypoints.buildReference(I, trainKeyPoints, points3f, false, 1);

    // Read image 150
    filenameRef = vpIoTools::createFilePath(dirname, "image0150.pgm");
    vpImageIo::read(I, filenameRef);

    // Init pose at image 150
    cMo.buildFrom(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828);
    tracker.initFromPose(I, cMo);

    // Detect keypoints on the image 150
    keypoints.detect(I, trainKeyPoints, elapsedTime);

    // Keep only keypoints on the cube
    pair = tracker.getPolygonFaces(true, true,
                                   true); // To detect an issue with CI
    polygons = pair.first;
    roisPt = pair.second;

    // Compute the 3D coordinates
    vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);

    // Build the reference keypoints
    keypoints.buildReference(I, trainKeyPoints, points3f, true, 2);

    // Read image 200
    filenameRef = vpIoTools::createFilePath(dirname, "image0200.pgm");
    vpImageIo::read(I, filenameRef);

    // Init pose at image 200
    cMo.buildFrom(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025);
    tracker.initFromPose(I, cMo);

    // Detect keypoints on the image 200
    keypoints.detect(I, trainKeyPoints, elapsedTime);

    // Keep only keypoints on the cube
    pair = tracker.getPolygonFaces(false); // To detect an issue with CI
    polygons = pair.first;
    roisPt = pair.second;

    // Compute the 3D coordinates
    vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);

    // Build the reference keypoints
    keypoints.buildReference(I, trainKeyPoints, points3f, true, 3);

    // Init reader for getting the input image sequence
    vpVideoReader g;
    g.setFileName(filenameCur);
    g.open(I);
    g.acquire(I);

#if defined VISP_HAVE_X11
    vpDisplayX display2;
#elif defined VISP_HAVE_GTK
    vpDisplayGTK display2;
#elif defined VISP_HAVE_GDI
    vpDisplayGDI display2;
#else
    vpDisplayOpenCV display2;
#endif

    vpImage<unsigned char> IMatching;

    keypoints.createImageMatching(I, IMatching);

    if (opt_display) {
      display2.setDownScalingFactor(vpDisplay::SCALE_AUTO);
      display2.init(IMatching, 0, (int)I.getHeight() / vpDisplay::getDownScalingFactor(I) + 80, "IMatching");
    }

    bool opt_click = false;
    double error;
    vpMouseButton::vpMouseButtonType button;
    std::vector<double> times_vec;
    while ((opt_display && !g.end()) || (!opt_display && g.getFrameIndex() < 30)) {
      g.acquire(I);

      if (opt_display) {
        vpDisplay::display(I);

        // Display image matching
        keypoints.insertImageMatching(I, IMatching);

        vpDisplay::display(IMatching);
      }

      // Match keypoints and estimate the pose
      if (keypoints.matchPoint(I, cam, cMo, error, elapsedTime)) {
        times_vec.push_back(elapsedTime);

        tracker.setCameraParameters(cam);
        tracker.setPose(I, cMo);

        if (opt_display) {
          tracker.display(I, cMo, cam, vpColor::red, 2);
          vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);

          std::vector<vpImagePoint> ransacInliers = keypoints.getRansacInliers();
          std::vector<vpImagePoint> ransacOutliers = keypoints.getRansacOutliers();

          for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
            vpDisplay::displayCircle(I, *it, 4, vpColor::green);
            vpImagePoint imPt(*it);
            imPt.set_u(imPt.get_u() + I.getWidth());
            imPt.set_v(imPt.get_v() + I.getHeight());
            vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::green);
          }

          for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end();
               ++it) {
            vpDisplay::displayCircle(I, *it, 4, vpColor::red);
            vpImagePoint imPt(*it);
            imPt.set_u(imPt.get_u() + I.getWidth());
            imPt.set_v(imPt.get_v() + I.getHeight());
            vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::red);
          }

          keypoints.displayMatching(I, IMatching);

          // Display model in the correct sub-image in IMatching
          vpCameraParameters cam2;
          cam2.initPersProjWithoutDistortion(cam.get_px(), cam.get_py(), cam.get_u0() + I.getWidth(),
                                             cam.get_v0() + I.getHeight());
          tracker.setCameraParameters(cam2);
          tracker.setPose(IMatching, cMo);
          tracker.display(IMatching, cMo, cam2, vpColor::red, 2);
          vpDisplay::displayFrame(IMatching, cMo, cam2, 0.025, vpColor::none, 3);
        }
      }

      if (opt_display) {
        vpDisplay::flush(I);
        vpDisplay::flush(IMatching);
      }

      if (opt_click_allowed && opt_display) {
        // Click requested to process next image
        if (opt_click) {
          vpDisplay::getClick(I, button, true);
          if (button == vpMouseButton::button3) {
            opt_click = false;
          }
        } else {
          // Use right click to enable/disable step by step tracking
          if (vpDisplay::getClick(I, button, false)) {
            if (button == vpMouseButton::button3) {
              opt_click = true;
            } else if (button == vpMouseButton::button1) {
              break;
            }
          }
        }
      }
    }

    if (!times_vec.empty()) {
      std::cout << "Computation time, Mean: " << vpMath::getMean(times_vec)
                << " ms ; Median: " << vpMath::getMedian(times_vec)
                << " ms ; Std: " << vpMath::getStdev(times_vec) << std::endl;
    }

  } catch (const vpException &e) {
    std::cerr << e.what() << std::endl;
    return -1;
  }

  std::cout << "testKeyPoint-2 is ok !" << std::endl;
  return 0;
}
#else
int main()
{
  std::cerr << "You need OpenCV library." << std::endl;

  return 0;
}

#endif