testKeyPoint-6.cpp

Test descriptor extraction.

/****************************************************************************
 *
 * 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 descriptor computation.
 *
 * 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/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 keypoint descriptor extraction.\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;
  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;
}

std::string getOpenCVType(const int type)
{
  std::string type_string = "";

  switch (type) {
  case CV_8U:
    type_string = "CV_8U";
    break;

  case CV_8S:
    type_string = "CV_8S";
    break;

  case CV_16U:
    type_string = "CV_16U";
    break;

  case CV_16S:
    type_string = "CV_16S";
    break;

  case CV_32S:
    type_string = "CV_32S";
    break;

  case CV_32F:
    type_string = "CV_32F";
    break;

  case CV_64F:
    type_string = "CV_64F";
    break;

  default:
    type_string = "Problem with type !";
    break;
  }

  return type_string;
}

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(EXIT_FAILURE);
    }

    // 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 EXIT_FAILURE;
    }

    vpImage<unsigned char> Iinput, I;

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

    // Build the name of the image files
    std::string filename = vpIoTools::createFilePath(dirname, "/Klimt.png");
    vpImageIo::read(Iinput, filename);
    Iinput.quarterSizeImage(I);

#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.init(I, 0, 0, "KeyPoints detection.");
    }

    vpKeyPoint keyPoints;

    std::vector<std::string> descriptorNames;
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
    descriptorNames.push_back("SIFT");
    descriptorNames.push_back("SURF");
#endif
    descriptorNames.push_back("ORB");
#if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
    descriptorNames.push_back("BRISK");
#endif
#if defined(VISP_HAVE_OPENCV_XFEATURES2D) || (VISP_HAVE_OPENCV_VERSION < 0x030000)
    descriptorNames.push_back("BRIEF");
#if (VISP_HAVE_OPENCV_VERSION >= 0x020402)
    descriptorNames.push_back("FREAK");
#endif
#endif
#if defined(VISP_HAVE_OPENCV_XFEATURES2D)
    descriptorNames.push_back("DAISY");
    descriptorNames.push_back("LATCH");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
    descriptorNames.push_back("VGG");
    descriptorNames.push_back("BoostDesc");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
    descriptorNames.push_back("KAZE");
    descriptorNames.push_back("AKAZE");
#endif

    std::string detectorName = "FAST";
    keyPoints.setDetector(detectorName);
    std::vector<cv::KeyPoint> kpts;

    keyPoints.detect(I, kpts);
    std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
    if (kpts.empty()) {
      std::cerr << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
      return EXIT_FAILURE;
    }

    for (std::vector<std::string>::const_iterator itd = descriptorNames.begin(); itd != descriptorNames.end(); ++itd) {
      keyPoints.setExtractor(*itd);

      if (*itd == "KAZE") {
        detectorName = "KAZE";
        keyPoints.setDetector(detectorName);
        keyPoints.detect(I, kpts);
        std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
        if (kpts.empty()) {
          std::cerr << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
          return EXIT_FAILURE;
        }
      } else if (*itd == "AKAZE") {
        detectorName = "AKAZE";
        keyPoints.setDetector(detectorName);
        keyPoints.detect(I, kpts);
        std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
        if (kpts.empty()) {
          std::cerr << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
          return EXIT_FAILURE;
        }
      } else if (*itd == "BoostDesc") {
#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
        cv::Ptr<cv::Feature2D> boostDesc = keyPoints.getExtractor("BoostDesc");
        // Init BIN BOOST descriptor for FAST keypoints
        boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256, true, 5.0f);
#endif
      }

      double t = vpTime::measureTimeMs();
      cv::Mat descriptor;
      keyPoints.extract(I, kpts, descriptor);
      t = vpTime::measureTimeMs() - t;

      std::cout << "Descriptor: " << descriptor.rows << "x" << descriptor.cols
                << " (rows x cols) ; type=" << getOpenCVType(descriptor.type()) << " for " << *itd << " method in " << t
                << " ms." << std::endl;
      if (descriptor.empty()) {
        std::cerr << "No descriptor extracted with " << *itd << " and image:" << filename << "." << std::endl;
        return EXIT_FAILURE;
      }

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

        for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
          vpImagePoint imPt;
          imPt.set_uv(it->pt.x, it->pt.y);

          vpDisplay::displayCross(I, imPt, 4, vpColor::red);
        }

        vpDisplay::flush(I);

        if (opt_click_allowed) {
          vpDisplay::getClick(I);
        }
      }
    }

    std::cout << "\n\n";

    std::map<vpKeyPoint::vpFeatureDescriptorType, std::string> mapOfDescriptorNames = keyPoints.getExtractorNames();

    for (int i = 0; i < vpKeyPoint::DESCRIPTOR_TYPE_SIZE; i++) {
      keyPoints.setExtractor((vpKeyPoint::vpFeatureDescriptorType)i);

      if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "KAZE") {
        detectorName = "KAZE";
        keyPoints.setDetector(detectorName);
        keyPoints.detect(I, kpts);
        std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
        if (kpts.empty()) {
          std::cerr << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
          return EXIT_FAILURE;
        }
      } else if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "AKAZE") {
        detectorName = "AKAZE";
        keyPoints.setDetector(detectorName);
        keyPoints.detect(I, kpts);
        std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
        if (kpts.empty()) {
          std::cerr << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
          return EXIT_FAILURE;
        }
      } else if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "BoostDesc") {
#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
        detectorName = "FAST";
        keyPoints.setDetector(detectorName);
        keyPoints.detect(I, kpts);
        std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
        if (kpts.empty()) {
          std::cerr << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
          return EXIT_FAILURE;
        }

        cv::Ptr<cv::Feature2D> boostDesc = keyPoints.getExtractor("BoostDesc");
        // Init BIN BOOST descriptor for FAST keypoints
        boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256, true, 5.0f);
#endif
      }

      double t = vpTime::measureTimeMs();
      cv::Mat descriptor;
      keyPoints.extract(I, kpts, descriptor);
      t = vpTime::measureTimeMs() - t;

      std::cout << "Descriptor: " << descriptor.rows << "x" << descriptor.cols
                << " (rows x cols) ; type=" << getOpenCVType(descriptor.type()) << " for "
                << mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] << " method in " << t << " ms."
                << std::endl;
      if (descriptor.empty()) {
        std::cerr << "No descriptor extracted with " << mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i]
                  << " and image:" << filename << "." << std::endl;
        return EXIT_FAILURE;
      }

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

        for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
          vpImagePoint imPt;
          imPt.set_uv(it->pt.x, it->pt.y);

          vpDisplay::displayCross(I, imPt, 4, vpColor::red);
        }

        vpDisplay::flush(I);

        if (opt_click_allowed) {
          vpDisplay::getClick(I);
        }
      }
    }

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

  std::cout << "testKeyPoint-6 is ok !" << std::endl;
  return EXIT_SUCCESS;
}
#else
#include <cstdlib>

int main()
{
  std::cerr << "You need OpenCV library." << std::endl;

  return EXIT_SUCCESS;
}

#endif