Test keypoints detection with OpenCV, specially the Pyramid implementation feature missing in OpenCV 3.0.
#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/vision/vpKeyPoint.h>
#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 detection.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-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\
-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;
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)) {
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;
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit(EXIT_FAILURE);
}
if (env_ipath.empty()) {
std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
"variable value."
<< std::endl;
return EXIT_FAILURE;
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#else
#endif
if (opt_display) {
display.
init(I, 0, 0,
"KeyPoints detection.");
}
std::cout << "INFORMATION: " << std::endl;
std::cout << "Here, we want to test feature detection on a pyramid of images "
"even for features "
"that are scale invariant to detect potential problem in ViSP."
<< std::endl
<< std::endl;
std::vector<std::string> detectorNames;
detectorNames.push_back("PyramidFAST");
detectorNames.push_back("FAST");
detectorNames.push_back("PyramidMSER");
detectorNames.push_back("MSER");
detectorNames.push_back("PyramidGFTT");
detectorNames.push_back("GFTT");
detectorNames.push_back("PyramidSimpleBlob");
detectorNames.push_back("SimpleBlob");
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
detectorNames.push_back("PyramidSTAR");
detectorNames.push_back("STAR");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
detectorNames.push_back("PyramidAGAST");
detectorNames.push_back("AGAST");
#endif
detectorNames.push_back("PyramidORB");
detectorNames.push_back("ORB");
#if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
detectorNames.push_back("PyramidBRISK");
detectorNames.push_back("BRISK");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
detectorNames.push_back("PyramidKAZE");
detectorNames.push_back("KAZE");
detectorNames.push_back("PyramidAKAZE");
detectorNames.push_back("AKAZE");
#endif
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
detectorNames.push_back("PyramidSIFT");
detectorNames.push_back("SIFT");
detectorNames.push_back("PyramidSURF");
detectorNames.push_back("SURF");
#endif
for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
std::vector<cv::KeyPoint> kpts;
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
if (kpts.empty()) {
std::cerr << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
return EXIT_FAILURE;
}
if (opt_display) {
for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
imPt.
set_uv(it->pt.x, it->pt.y);
}
if (opt_click_allowed) {
}
}
}
std::cout << "\n\n";
std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.
getDetectorNames();
std::vector<cv::KeyPoint> kpts;
std::cout << "Nb keypoints detected: " << kpts.size() << " for "
if (kpts.empty()) {
<< " method and image: " << filename << "." << std::endl;
return EXIT_FAILURE;
}
if (opt_display) {
for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
imPt.
set_uv(it->pt.x, it->pt.y);
}
if (opt_click_allowed) {
}
}
}
std::cerr << e.
what() << std::endl;
return EXIT_FAILURE;
}
std::cout << "testKeyPoint-5 is ok !" << std::endl;
return EXIT_SUCCESS;
}
#else
#include <cstdlib>
int main()
{
std::cerr << "You need OpenCV library." << std::endl;
return EXIT_SUCCESS;
}
#endif