testKeyPoint.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 https://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 keypoint matching.
 */
 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
#if defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) && \
  ((VISP_HAVE_OPENCV_VERSION < 0x050000)  && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
  ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES))
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/vision/vpKeyPoint.h>
 
// List of allowed command line options
#define GETOPTARGS "cdh"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 matching.\n\
  \n\
  SYNOPSIS\n\
  %s [-c] [-d] [-h]\n", name);
 
  fprintf(stdout, "\n\
  OPTIONS:                                               \n\
  \n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human 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], nullptr);
      return false;
      break;
 
    default:
      usage(argv[0], optarg_);
      return false;
      break;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr);
    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> &Iref,
              vpImage<Type> &Icur, vpImage<Type> &Imatch)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
  // Set the path location of the image sequence
  std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
 
  // Build the name of the image files
  std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000." + ext);
  vpImageIo::read(Iref, filenameRef);
  std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d." + ext);
 
  // Init keypoints
  vpKeyPoint keypoints("ORB", "ORB", "BruteForce-Hamming");
  std::cout << "Build " << keypoints.buildReference(Iref) << " reference points." << std::endl;
 
  vpVideoReader g;
  g.setFileName(filenameCur);
  g.open(Icur);
  g.acquire(Icur);
 
  Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
  Imatch.insert(Iref, vpImagePoint(0, 0));
 
  vpDisplay *display = nullptr;
 
  if (opt_display) {
#ifdef VISP_HAVE_DISPLAY
    display = vpDisplayFactory::allocateDisplay(Imatch, 0, 0, "ORB keypoints matching");
    display->setDownScalingFactor(vpDisplay::SCALE_AUTO);
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
  }
 
  bool opt_click = false;
  vpMouseButton::vpMouseButtonType button;
  while (!g.end()) {
    g.acquire(Icur);
    Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
 
    if (opt_display) {
      vpDisplay::display(Imatch);
    }
 
    // Match keypoints
    keypoints.matchPoint(Icur);
    // Display image with keypoints matched
    keypoints.displayMatching(Iref, Imatch);
 
    if (opt_display) {
      vpDisplay::flush(Imatch);
    }
 
    // Click requested to process next image
    if (opt_click_allowed && opt_display) {
      if (opt_click) {
        vpDisplay::getClick(Imatch, button, true);
        if (button == vpMouseButton::button3) {
          opt_click = false;
        }
      }
      else {
        // Use right click to enable/disable step by step tracking
        if (vpDisplay::getClick(Imatch, button, false)) {
          if (button == vpMouseButton::button3) {
            opt_click = true;
          }
          else if (button == vpMouseButton::button1) {
            break;
          }
        }
      }
    }
  }
 
  if (display) {
    delete display;
  }
}
 
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) {
      return 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> Iref, Icur, Imatch;
 
      std::cout << "-- Test on gray level images" << std::endl;
      run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
    }
 
    {
      vpImage<vpRGBa> Iref, Icur, Imatch;
 
      std::cout << "-- Test on color images" << std::endl;
      run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
    }
 
  }
  catch (const vpException &e) {
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
  }
 
  std::cout << "testKeyPoint is ok !" << std::endl;
  return EXIT_SUCCESS;
}
#else
int main()
{
  std::cerr << "You need OpenCV library." << std::endl;
 
  return EXIT_SUCCESS;
}
 
#endif