testKeyPoint-4.cpp

Test keypoint matching and pose estimation with mostly OpenCV functions calls to detect potential memory leaks in testKeyPoint-2.cpp.

/****************************************************************************
 *
 * 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 with mostly OpenCV functions
 *calls to detect potential memory leaks in testKeyPoint-2.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/vpHomogeneousMatrix.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/io/vpVideoReader.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/vision/vpKeyPoint.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> I, Imatch, Iref;

    // 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);
    Iref = I;
    std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");

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

    if (opt_display) {
      display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
      display.init(I, 0, 0, "ORB keypoints matching");
      Imatch.resize(I.getHeight(), 2 * I.getWidth());
      Imatch.insert(I, vpImagePoint(0, 0));
      display2.setDownScalingFactor(vpDisplay::SCALE_AUTO);
      display2.init(Imatch, 0, (int)I.getHeight() / vpDisplay::getDownScalingFactor(I) + 70, "ORB keypoints matching");
    }

    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
    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(500, 1.2f, 1);
    extractor = cv::ORB::create(500, 1.2f, 1);
#elif (VISP_HAVE_OPENCV_VERSION >= 0x020301)
    detector = cv::FeatureDetector::create("ORB");
    extractor = cv::DescriptorExtractor::create("ORB");
#endif
    matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");

#if (VISP_HAVE_OPENCV_VERSION >= 0x020400 && VISP_HAVE_OPENCV_VERSION < 0x030000)
    detector->set("nLevels", 1);
#endif

    // Detect keypoints on the current image
    std::vector<cv::KeyPoint> trainKeyPoints;
    cv::Mat matImg;
    vpImageConvert::convert(I, matImg);
    detector->detect(matImg, trainKeyPoints);

    // 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(false);
    polygons = pair.first;
    roisPt = pair.second;

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

    // Extract descriptors
    cv::Mat trainDescriptors;
    extractor->compute(matImg, trainKeyPoints, trainDescriptors);

    if (trainKeyPoints.size() != (size_t)trainDescriptors.rows || trainKeyPoints.size() != points3f.size()) {
      std::cerr << "Problem with training data size !" << std::endl;
      return -1;
    }

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

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

      vpImageConvert::convert(I, 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]);
          }
        }
      }

      vpPose estimated_pose;
      for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
        vpPoint pt(points3f[(size_t)(it->trainIdx)].x, points3f[(size_t)(it->trainIdx)].y,
                   points3f[(size_t)(it->trainIdx)].z);

        double x = 0.0, y = 0.0;
        vpPixelMeterConversion::convertPoint(cam, queryKeyPoints[(size_t)(it->queryIdx)].pt.x,
                                             queryKeyPoints[(size_t)(it->queryIdx)].pt.y, x, y);
        pt.set_x(x);
        pt.set_y(y);

        estimated_pose.addPoint(pt);
      }

      bool is_pose_estimated = false;
      if (estimated_pose.npt >= 4) {
        try {
          unsigned int nb_inliers = (unsigned int)(0.6 * estimated_pose.npt);
          estimated_pose.setRansacNbInliersToReachConsensus(nb_inliers);
          estimated_pose.setRansacThreshold(0.01);
          estimated_pose.setRansacMaxTrials(500);
          estimated_pose.computePose(vpPose::RANSAC, cMo);
          is_pose_estimated = true;
        } catch (...) {
          is_pose_estimated = false;
        }
      }

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

        Imatch.insert(I, vpImagePoint(0, Iref.getWidth()));
        vpDisplay::display(Imatch);
        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);
        }

        if (is_pose_estimated) {
          tracker.setPose(I, cMo);
          tracker.display(I, cMo, cam, vpColor::red);
          vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none);
        }

        vpDisplay::flush(Imatch);
        vpDisplay::flush(I);
      }

      // Click requested to process next image
      if (opt_click_allowed && opt_display) {
        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;
            }
          }
        }
      }
    }

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

  std::cout << "testKeyPoint-4 is ok !" << std::endl;
  return 0;
}
#else
int main()
{
  std::cerr << "You need OpenCV library." << std::endl;

  return 0;
}

#endif