Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
testKeyPoint-5.cpp

Test keypoints detection with OpenCV, specially the Pyramid implementation feature missing in OpenCV 3.0.

/****************************************************************************
*
* 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 keypoints detection with OpenCV, specially the Pyramid implementation
* feature misssing in OpenCV 3.0.
*
* 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 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;
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;
}
template<typename Type>
void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_display,
vpImage<Type> &Iinput, vpImage<Type> &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.halfSizeImage(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.");
}
// 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::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;
vpKeyPoint keyPoints;
// Will test the different types of keypoints detection to see if there is
// a problem between OpenCV versions, modules or constructors
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");
// In contrib modules
#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) || \
(VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
#if (VISP_HAVE_OPENCV_VERSION != 0x040504) && (defined(__APPLE__) && defined(__MACH__))
detectorNames.push_back("PyramidSIFT");
detectorNames.push_back("SIFT"); // SIFT is known unstable with OpenCV 4.5.4 on macOS
#endif
#endif
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
detectorNames.push_back("PyramidSURF");
detectorNames.push_back("SURF");
#endif
for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
keyPoints.setDetector(*itd);
std::vector<cv::KeyPoint> kpts;
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
throw(vpException(vpException::fatalError, ss.str()));
}
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::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.getDetectorNames();
for (int i = 0; i < vpKeyPoint::DETECTOR_TYPE_SIZE; i++) {
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
(VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
#if (VISP_HAVE_OPENCV_VERSION == 0x040504) && (defined(__APPLE__) && defined(__MACH__))
if (i == vpKeyPoint::DETECTOR_SIFT) { // SIFT is known unstable with OpenCV 4.5.4 on macOS
continue;
}
#endif
#endif
keyPoints.setDetector((vpKeyPoint::vpFeatureDetectorType)i);
std::vector<cv::KeyPoint> kpts;
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for "
<< mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i] << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i]
<< " method and image: " << filename << "." << std::endl;
throw(vpException(vpException::fatalError, ss.str()));
}
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);
}
}
}
}
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;
std::cout << "-- Test on gray level images" << std::endl;
run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
}
{
vpImage<vpRGBa> Iinput, I;
std::cout << "-- Test on color images" << std::endl;
run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
}
} catch (const vpException &e) {
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