keyPointSurf.cpp

Tracking of Surf key-points.

/****************************************************************************
 *
 * 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:
 * Tracking of Surf key points.
 *
 * Authors:
 * Nicolas Melchior
 * Fabien Spindler
 *
 *****************************************************************************/
#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>

// List of allowed command line options
#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;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    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)) {
    // standalone param or error
    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;

    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();

    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;

    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
      exit(-1);
    }

    // Get the option values
    if (!opt_ipath.empty())
      ipath = opt_ipath;

    // Compare ipath and env_ipath. If they differ, we take into account
    // the input path comming from the command line option
    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;
      }
    }

    // Test if an input path is set
    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);
    }

    // Declare an image, this is a gray level image (unsigned char)
    // it size is not defined yet, it will be defined when the image will
    // read on the disk
    vpImage<unsigned char> Iref;
    vpImage<unsigned char> Icur;

    // Set the path location of the image sequence
    dirname = vpIoTools::createFilePath(ipath, "cube");

    // Build the name of the image file
    unsigned int iter = 0; // Image number
    std::ostringstream s;
    s.setf(std::ios::right, std::ios::adjustfield);
    s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
    filename = vpIoTools::createFilePath(dirname, s.str());

    // Read the PGM image named "filename" on the disk, and put the
    // bitmap into the image structure I.  I is initialized to the
    // correct size
    //
    // exception readPGM may throw various exception if, for example,
    // the file does not exist, or if the memory cannot be allocated
    try {
      vpCTRACE << "Load: " << filename << std::endl;

      vpImageIo::read(Iref, filename);
    } catch (...) {
      // an exception is throwned if an exception from readPGM has been
      // catched here this will result in the end of the program Note that
      // another error message has been printed from readPGM to give more
      // information about the error
      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);
    }

// We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
    vpDisplayX display[2];
#elif defined VISP_HAVE_GTK
    vpDisplayGTK display[2];
#elif defined VISP_HAVE_GDI
    vpDisplayGDI display[2];
#endif

    if (opt_display) {
      try {
        // Display size is automatically defined by the image (I) size
        display[0].init(Iref, 100, 100, "Display reference image");
        vpDisplay::display(Iref);
        vpDisplay::flush(Iref);
      } catch (...) {
        vpERROR_TRACE("Error while displaying the image");
        exit(-1);
      }
    }

    vpImagePoint corners[2];
    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++) {
        vpDisplay::getClick(Iref, corners[i]);
        std::cout << corners[i] << std::endl;
      }
    } else {
      corners[0].set_ij(156, 209);
      corners[1].set_ij(272, 378);
    }

    if (opt_display) {
      // Display the rectangle which defines the part of the image where the
      // reference points are computed.
      vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
      vpDisplay::flush(Iref);
    }

    if (opt_click_allowed) {
      std::cout << "Click on the image to continue" << std::endl;
      vpDisplay::getClick(Iref);
    }

    vpKeyPointSurf surf;
    //   unsigned int nbrRef;
    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());

    // Computes the reference points
    /* nbrRef = */ surf.buildReference(Iref, corners[0], height, width);

    vpImageIo::read(Icur, filename);

    if (opt_display) {
      try {
        // Display size is automatically defined by the image (I) size
        display[1].init(Icur, (int)(100 + Iref.getWidth()), 100, "Display current image");
        vpDisplay::display(Icur);
        vpDisplay::flush(Icur);
      } catch (...) {
        vpERROR_TRACE("Error while displaying the image");
        exit(-1);
      }
    }

    for (iter = 1; iter < 30; iter++) {
      std::cout << "----------------------------------------------------------" << std::endl;
      // set the new image name
      s.str("");
      s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
      filename = vpIoTools::createFilePath(dirname, s.str());
      // read the image
      vpImageIo::read(Icur, filename);
      if (opt_display) {
        // Display the image
        vpDisplay::display(Iref);
        vpDisplay::display(Icur);
      }

      unsigned int nbrPair = surf.matchPoint(Icur);
      std::cout << "Number of matched point : " << nbrPair << std::endl;

      if (opt_display) {
        // Display the matched features
        surf.display(Iref, Icur, 7);
        vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
        vpDisplay::flush(Iref);
        vpDisplay::flush(Icur);
      }
    }
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    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