Visual Servoing Platform version 3.5.0
testSurfKeyPoint.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test auto detection of dots.
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#include <iomanip>
40#include <iostream>
41#include <sstream>
42#include <stdio.h>
43#include <stdlib.h>
44
45#include <visp3/core/vpConfig.h>
46
47#if (defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)) // Require opencv >= 1.1.0 < 3.0.0
48
49#include <visp3/core/vpCameraParameters.h>
50#include <visp3/core/vpImage.h>
51#include <visp3/core/vpIoTools.h>
52#include <visp3/gui/vpDisplayGDI.h>
53#include <visp3/gui/vpDisplayGTK.h>
54#include <visp3/gui/vpDisplayOpenCV.h>
55#include <visp3/gui/vpDisplayX.h>
56#include <visp3/io/vpImageIo.h>
57#include <visp3/io/vpParseArgv.h>
59
66// List of allowed command line options
67#define GETOPTARGS "cdi:h"
68
69void usage(const char *name, const char *badparam, std::string ipath);
70bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
71
81void usage(const char *name, const char *badparam, std::string ipath)
82{
83 fprintf(stdout, "\n\
84Test dot tracking.\n\
85\n\
86SYNOPSIS\n\
87 %s [-i <input image path>] [-c] [-d] [-h]\n", name);
88
89 fprintf(stdout, "\n\
90OPTIONS: Default\n\
91 -i <input image path> %s\n\
92 Set image input path.\n\
93 From this path read image \n\
94 \"ellipse/ellipse.pgm\"\n\
95 Setting the VISP_INPUT_IMAGE_PATH environment\n\
96 variable produces the same behaviour than using\n\
97 this option.\n\
98\n\
99 -c\n\
100 Disable the mouse click. Useful to automaze the \n\
101 execution of this program without humain intervention.\n\
102\n\
103 -d \n\
104 Turn off the display.\n\
105\n\
106 -h\n\
107 Print the help.\n", ipath.c_str());
108
109 if (badparam)
110 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
111}
124bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
125{
126 const char *optarg_;
127 int c;
128 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
129
130 switch (c) {
131 case 'c':
132 click_allowed = false;
133 break;
134 case 'd':
135 display = false;
136 break;
137 case 'i':
138 ipath = optarg_;
139 break;
140 case 'h':
141 usage(argv[0], NULL, ipath);
142 return false;
143 break;
144
145 default:
146 usage(argv[0], optarg_, ipath);
147 return false;
148 break;
149 }
150 }
151
152 if ((c == 1) || (c == -1)) {
153 // standalone param or error
154 usage(argv[0], NULL, ipath);
155 std::cerr << "ERROR: " << std::endl;
156 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
157 return false;
158 }
159
160 return true;
161}
162
163int main(int argc, const char **argv)
164{
165 try {
166 std::string env_ipath;
167 std::string opt_ipath;
168 std::string ipath;
169 std::string dirname;
170 std::string filenameRef;
171 std::string filenameCur;
172 bool opt_click_allowed = true;
173 bool opt_display = true;
174
175 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
176 // environment variable value
178
179 // Set the default input path
180 if (!env_ipath.empty())
181 ipath = env_ipath;
182
183 // Read the command line options
184 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
185 exit(-1);
186 }
187
188 // Get the option values
189 if (!opt_ipath.empty())
190 ipath = opt_ipath;
191
192 // Compare ipath and env_ipath. If they differ, we take into account
193 // the input path comming from the command line option
194 if (!opt_ipath.empty() && !env_ipath.empty()) {
195 if (ipath != env_ipath) {
196 std::cout << std::endl << "WARNING: " << std::endl;
197 std::cout << " Since -i <visp image path=" << ipath << "> "
198 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
199 << " we skip the environment variable." << std::endl;
200 }
201 }
202
203 // Test if an input path is set
204 if (opt_ipath.empty() && env_ipath.empty()) {
205 usage(argv[0], NULL, ipath);
206 std::cerr << std::endl << "ERROR:" << std::endl;
207 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
208 << " environment variable to specify the location of the " << std::endl
209 << " image path where test images are located." << std::endl
210 << std::endl;
211 exit(-1);
212 }
213
214 // Declare an image, this is a gray level image (unsigned char)
215 // it size is not defined yet, it will be defined when the image will
216 // read on the disk
219
220 // Set the path location of the image sequence
221 dirname = vpIoTools::createFilePath(ipath, "cube");
222
223 // Build the name of the image file
224 filenameRef = vpIoTools::createFilePath(dirname, "image.0000.pgm");
225 filenameCur = vpIoTools::createFilePath(dirname, "image.0079.pgm");
226
227 // Read the PGM image named "filename" on the disk, and put the
228 // bitmap into the image structure I. I is initialized to the
229 // correct size
230 //
231 // exception readPGM may throw various exception if, for example,
232 // the file does not exist, or if the memory cannot be allocated
233 try {
234 std::cout << "Load: " << filenameRef << std::endl;
235
236 vpImageIo::read(Iref, filenameRef);
237
238 std::cout << "Load: " << filenameCur << std::endl;
239
240 vpImageIo::read(Icur, filenameCur);
241 } catch (...) {
242 // an exception is throwned if an exception from readPGM has been
243 // catched here this will result in the end of the program Note that
244 // another error message has been printed from readPGM to give more
245 // information about the error
246 std::cerr << std::endl << "ERROR:" << std::endl;
247 std::cerr << " Cannot read " << filenameRef << "or" << filenameCur << std::endl;
248 std::cerr << " Check your -i " << ipath << " option " << std::endl
249 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
250 exit(-1);
251 }
252
253// We open a window using either X11, GTK or GDI.
254#if defined VISP_HAVE_X11
255 vpDisplayX display[2];
256#elif defined VISP_HAVE_GTK
257 vpDisplayGTK display[2];
258#elif defined VISP_HAVE_GDI
259 vpDisplayGDI display[2];
260#else
261 vpDisplayOpenCV display[2];
262#endif
263
264 if (opt_display) {
265 // Display size is automatically defined by the image (I) size
266 display[0].init(Iref, 100, 100, "Reference image");
267 // Display the image
268 // The image class has a member that specify a pointer toward
269 // the display that has been initialized in the display declaration
270 // therefore is is no longuer necessary to make a reference to the
271 // display variable.
272 vpDisplay::display(Iref);
273 // Flush the display
274 vpDisplay::flush(Iref);
275 }
276
277 vpKeyPointSurf surf;
278 unsigned int nbrRef;
279
280 if (opt_click_allowed && opt_display) {
281 std::cout << "Select a part of the image where the reference points "
282 "will be computed. This part is a rectangle."
283 << std::endl;
284 std::cout << "Click first on the top left corner and then on the "
285 "bottom right corner."
286 << std::endl;
287 vpImagePoint corners[2];
288 for (int i = 0; i < 2; i++) {
289 vpDisplay::getClick(Iref, corners[i]);
290 }
291
292 vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
293 vpDisplay::flush(Iref);
294 unsigned int height, width;
295 height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
296 width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
297
298 // Computes the reference points
299 nbrRef = surf.buildReference(Iref, corners[0], height, width);
300 }
301
302 else {
303 nbrRef = surf.buildReference(Iref);
304 }
305
306 if (nbrRef < 1) {
307 std::cerr << "No reference point" << std::endl;
308 exit(-1);
309 }
310
311 unsigned int nbrPair;
312 if (opt_display) {
313 display[1].init(Icur, (int)(100 + Iref.getWidth()), 100, "Current image");
314 // display variable.
315 vpDisplay::display(Icur);
316 // Flush the display
317 vpDisplay::flush(Icur);
318 }
319
320 if (opt_click_allowed && opt_display) {
321 std::cout << "Select a part of the current image where the reference "
322 "will be search. This part is a rectangle."
323 << std::endl;
324 std::cout << "Click first on the top left corner and then on the "
325 "bottom right corner."
326 << std::endl;
327 vpImagePoint corners[2];
328 for (int i = 0; i < 2; i++) {
329 vpDisplay::getClick(Icur, corners[i]);
330 }
331 vpDisplay::displayRectangle(Icur, corners[0], corners[1], vpColor::green);
332 vpDisplay::flush(Icur);
333 unsigned int height, width;
334 height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
335 width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
336
337 // Computes the reference points
338 nbrPair = surf.matchPoint(Icur, corners[0], height, width);
339 }
340
341 else {
342 nbrPair = surf.matchPoint(Icur);
343 }
344
345 if (nbrPair < 1) {
346 std::cout << "No point matched" << std::endl;
347 }
348
349 if (opt_display) {
350 surf.display(Iref, Icur, 7);
351 vpDisplay::flush(Iref);
352 vpDisplay::flush(Icur);
353 if (opt_click_allowed) {
354 std::cout << "A click on the reference image to exit..." << std::endl;
356 }
357 }
358 return (0);
359 } catch (const vpException &e) {
360 std::cout << "Catch an exception: " << e << std::endl;
361 return (1);
362 }
363}
364#else
365int main()
366{
367 std::cerr << "You do not have 1.1.0 <= OpenCV < 2.3.0 that contains "
368 "opencv_nonfree component..."
369 << std::endl;
370}
371
372#endif
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
double get_j() const
Definition: vpImagePoint.h:214
double get_i() const
Definition: vpImagePoint.h:203
unsigned int getWidth() const
Definition: vpImage.h:246
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Class that implements the SURF key points and technics thanks to the OpenCV library.