Visual Servoing Platform  version 3.5.1 under development (2022-05-22)
testKeyPoint.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Test keypoint matching.
33  *
34  * Authors:
35  * Souriya Trinh
36  *
37  *****************************************************************************/
38 
39 #include <iostream>
40 
41 #include <visp3/core/vpConfig.h>
42 
43 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
44 
45 #include <visp3/core/vpImage.h>
46 #include <visp3/core/vpIoTools.h>
47 #include <visp3/gui/vpDisplayGDI.h>
48 #include <visp3/gui/vpDisplayGTK.h>
49 #include <visp3/gui/vpDisplayOpenCV.h>
50 #include <visp3/gui/vpDisplayX.h>
51 #include <visp3/io/vpImageIo.h>
52 #include <visp3/io/vpParseArgv.h>
53 #include <visp3/io/vpVideoReader.h>
54 #include <visp3/vision/vpKeyPoint.h>
55 
56 // List of allowed command line options
57 #define GETOPTARGS "cdh"
58 
59 void usage(const char *name, const char *badparam);
60 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
61 
70 void usage(const char *name, const char *badparam)
71 {
72  fprintf(stdout, "\n\
73  Test keypoints matching.\n\
74  \n\
75  SYNOPSIS\n\
76  %s [-c] [-d] [-h]\n",
77  name);
78 
79  fprintf(stdout, "\n\
80  OPTIONS: \n\
81  \n\
82  -c\n\
83  Disable the mouse click. Useful to automate the \n\
84  execution of this program without human intervention.\n\
85  \n\
86  -d \n\
87  Turn off the display.\n\
88  \n\
89  -h\n\
90  Print the help.\n");
91 
92  if (badparam)
93  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
94 }
95 
107 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
108 {
109  const char *optarg_;
110  int c;
111  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
112 
113  switch (c) {
114  case 'c':
115  click_allowed = false;
116  break;
117  case 'd':
118  display = false;
119  break;
120  case 'h':
121  usage(argv[0], NULL);
122  return false;
123  break;
124 
125  default:
126  usage(argv[0], optarg_);
127  return false;
128  break;
129  }
130  }
131 
132  if ((c == 1) || (c == -1)) {
133  // standalone param or error
134  usage(argv[0], NULL);
135  std::cerr << "ERROR: " << std::endl;
136  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
137  return false;
138  }
139 
140  return true;
141 }
142 
143 template <typename Type>
144 void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_display, vpImage<Type> &Iref,
145  vpImage<Type> &Icur, vpImage<Type> &Imatch)
146 {
147  // Set the path location of the image sequence
148  std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
149 
150  // Build the name of the image files
151  std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000.pgm");
152  vpImageIo::read(Iref, filenameRef);
153  std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d.pgm");
154 
155  // Init keypoints
156  vpKeyPoint keypoints("ORB", "ORB", "BruteForce-Hamming");
157  std::cout << "Build " << keypoints.buildReference(Iref) << " reference points." << std::endl;
158 
159  vpVideoReader g;
160  g.setFileName(filenameCur);
161  g.open(Icur);
162  g.acquire(Icur);
163 
164  Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
165  Imatch.insert(Iref, vpImagePoint(0, 0));
166 
167 #if defined VISP_HAVE_X11
168  vpDisplayX display;
169 #elif defined VISP_HAVE_GTK
170  vpDisplayGTK display;
171 #elif defined VISP_HAVE_GDI
172  vpDisplayGDI display;
173 #else
174  vpDisplayOpenCV display;
175 #endif
176 
177  if (opt_display) {
179  display.init(Imatch, 0, 0, "ORB keypoints matching");
180  }
181 
182  bool opt_click = false;
184  while (!g.end()) {
185  g.acquire(Icur);
186  Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
187 
188  if (opt_display) {
189  vpDisplay::display(Imatch);
190  }
191 
192  // Match keypoints
193  keypoints.matchPoint(Icur);
194  // Display image with keypoints matched
195  keypoints.displayMatching(Iref, Imatch);
196 
197  if (opt_display) {
198  vpDisplay::flush(Imatch);
199  }
200 
201  // Click requested to process next image
202  if (opt_click_allowed && opt_display) {
203  if (opt_click) {
204  vpDisplay::getClick(Imatch, button, true);
205  if (button == vpMouseButton::button3) {
206  opt_click = false;
207  }
208  } else {
209  // Use right click to enable/disable step by step tracking
210  if (vpDisplay::getClick(Imatch, button, false)) {
211  if (button == vpMouseButton::button3) {
212  opt_click = true;
213  } else if (button == vpMouseButton::button1) {
214  break;
215  }
216  }
217  }
218  }
219  }
220 }
221 
227 int main(int argc, const char **argv)
228 {
229  try {
230  std::string env_ipath;
231  bool opt_click_allowed = true;
232  bool opt_display = true;
233 
234  // Read the command line options
235  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
236  exit(-1);
237  }
238 
239  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
240  // environment variable value
241  env_ipath = vpIoTools::getViSPImagesDataPath();
242 
243  if (env_ipath.empty()) {
244  std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
245  "variable value."
246  << std::endl;
247  return -1;
248  }
249 
250  {
251  vpImage<unsigned char> Iref, Icur, Imatch;
252 
253  std::cout << "-- Test on gray level images" << std::endl;
254  run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
255  }
256 
257  {
258  vpImage<vpRGBa> Iref, Icur, Imatch;
259 
260  std::cout << "-- Test on color images" << std::endl;
261  run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
262  }
263 
264  } catch (const vpException &e) {
265  std::cerr << e.what() << std::endl;
266  return -1;
267  }
268 
269  std::cout << "testKeyPoint is ok !" << std::endl;
270  return 0;
271 }
272 #else
273 int main()
274 {
275  std::cerr << "You need OpenCV library." << std::endl;
276 
277  return 0;
278 }
279 
280 #endif
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:148
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1368
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:799
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:134
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
error that can be emited by ViSP classes.
Definition: vpException.h:71
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void open(vpImage< vpRGBa > &I)
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1687
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:134
void acquire(vpImage< vpRGBa > &I)
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1112
const char * what() const
Definition: vpException.cpp:99
unsigned int getHeight() const
Definition: vpImage.h:188
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:222
void setFileName(const std::string &filename)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned int getWidth() const
Definition: vpImage.h:246
Definition of the vpImage class member functions.
Definition: vpImage.h:126