Visual Servoing Platform  version 3.5.0
testKeyPoint-3.cpp
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30  *
31  * Description:
32  * Test keypoint matching with mostly OpenCV functions calls
33  * to detect potential memory leaks in testKeyPoint.cpp.
34  *
35  * Authors:
36  * Souriya Trinh
37  *
38  *****************************************************************************/
39 
40 #include <iostream>
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
45 
46 #include <opencv2/core/core.hpp>
47 #include <opencv2/features2d/features2d.hpp>
48 #include <visp3/core/vpImage.h>
49 #include <visp3/core/vpIoTools.h>
50 #include <visp3/gui/vpDisplayGDI.h>
51 #include <visp3/gui/vpDisplayGTK.h>
52 #include <visp3/gui/vpDisplayOpenCV.h>
53 #include <visp3/gui/vpDisplayX.h>
54 #include <visp3/io/vpImageIo.h>
55 #include <visp3/io/vpParseArgv.h>
56 #include <visp3/io/vpVideoReader.h>
57 
58 // List of allowed command line options
59 #define GETOPTARGS "cdh"
60 
61 void usage(const char *name, const char *badparam);
62 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
63 
71 void usage(const char *name, const char *badparam)
72 {
73  fprintf(stdout, "\n\
74 Test keypoints matching.\n\
75 \n\
76 SYNOPSIS\n\
77  %s [-c] [-d] [-h]\n", 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,
145  vpImage<Type> &Iref, 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  cv::Ptr<cv::FeatureDetector> detector;
157  cv::Ptr<cv::DescriptorExtractor> extractor;
158  cv::Ptr<cv::DescriptorMatcher> matcher;
159 
160 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
161  detector = cv::ORB::create();
162  extractor = cv::ORB::create();
163 #else
164  detector = cv::FeatureDetector::create("ORB");
165  extractor = cv::DescriptorExtractor::create("ORB");
166 #endif
167  matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
168 
169  std::vector<cv::KeyPoint> trainKeyPoints;
170  cv::Mat matImg, trainDescriptors;
171  vpImageConvert::convert(Iref, matImg);
172  detector->detect(matImg, trainKeyPoints);
173  extractor->compute(matImg, trainKeyPoints, trainDescriptors);
174 
175  vpVideoReader g;
176  g.setFileName(filenameCur);
177  g.open(Icur);
178  g.acquire(Icur);
179 
180  Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
181  Imatch.insert(Iref, vpImagePoint(0, 0));
182 
183 #if defined VISP_HAVE_X11
184  vpDisplayX display;
185 #elif defined VISP_HAVE_GTK
186  vpDisplayGTK display;
187 #elif defined VISP_HAVE_GDI
188  vpDisplayGDI display;
189 #else
190  vpDisplayOpenCV display;
191 #endif
192 
193  if (opt_display) {
194  display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
195  display.init(Imatch, 0, 0, "ORB keypoints matching");
196  }
197 
198  bool opt_click = false;
200  while (!g.end()) {
201  g.acquire(Icur);
202  Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
203 
204  if (opt_display) {
205  vpDisplay::display(Imatch);
206  }
207 
208  vpImageConvert::convert(Icur, matImg);
209  std::vector<cv::KeyPoint> queryKeyPoints;
210  detector->detect(matImg, queryKeyPoints);
211 
212  cv::Mat queryDescriptors;
213  extractor->compute(matImg, queryKeyPoints, queryDescriptors);
214 
215  std::vector<std::vector<cv::DMatch> > knn_matches;
216  std::vector<cv::DMatch> matches;
217  matcher->knnMatch(queryDescriptors, trainDescriptors, knn_matches, 2);
218  for (std::vector<std::vector<cv::DMatch> >::const_iterator it = knn_matches.begin(); it != knn_matches.end();
219  ++it) {
220  if (it->size() > 1) {
221  double ratio = (*it)[0].distance / (*it)[1].distance;
222  if (ratio < 0.85) {
223  matches.push_back((*it)[0]);
224  }
225  }
226  }
227 
228  if (opt_display) {
229  for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
230  vpImagePoint leftPt(trainKeyPoints[(size_t)it->trainIdx].pt.y, trainKeyPoints[(size_t)it->trainIdx].pt.x);
231  vpImagePoint rightPt(queryKeyPoints[(size_t)it->queryIdx].pt.y,
232  queryKeyPoints[(size_t)it->queryIdx].pt.x + Iref.getWidth());
233  vpDisplay::displayLine(Imatch, leftPt, rightPt, vpColor::green);
234  }
235 
236  vpDisplay::flush(Imatch);
237  }
238 
239  // Click requested to process next image
240  if (opt_click_allowed && opt_display) {
241  if (opt_click) {
242  vpDisplay::getClick(Imatch, button, true);
243  if (button == vpMouseButton::button3) {
244  opt_click = false;
245  }
246  } else {
247  // Use right click to enable/disable step by step tracking
248  if (vpDisplay::getClick(Imatch, button, false)) {
249  if (button == vpMouseButton::button3) {
250  opt_click = true;
251  } else if (button == vpMouseButton::button1) {
252  break;
253  }
254  }
255  }
256  }
257  }
258 }
259 
266 int main(int argc, const char **argv)
267 {
268  try {
269  std::string env_ipath;
270  bool opt_click_allowed = true;
271  bool opt_display = true;
272 
273  // Read the command line options
274  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
275  exit(-1);
276  }
277 
278  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
279  // environment variable value
280  env_ipath = vpIoTools::getViSPImagesDataPath();
281 
282  if (env_ipath.empty()) {
283  std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
284  "variable value."
285  << std::endl;
286  return -1;
287  }
288 
289  {
290  vpImage<unsigned char> Iref, Icur, Imatch;
291 
292  std::cout << "-- Test on gray level images" << std::endl;
293  run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
294  }
295 
296  {
297  vpImage<vpRGBa> Iref, Icur, Imatch;
298 
299  std::cout << "-- Test on color images" << std::endl;
300  run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
301  }
302 
303  } catch (const vpException &e) {
304  std::cerr << e.what() << std::endl;
305  return -1;
306  }
307 
308  std::cout << "testKeyPoint-3 is ok !" << std::endl;
309  return 0;
310 }
311 #else
312 int main()
313 {
314  std::cerr << "You need OpenCV library." << std::endl;
315 
316  return 0;
317 }
318 
319 #endif
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 displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void flush(const vpImage< unsigned char > &I)
@ SCALE_AUTO
Definition: vpDisplay.h:183
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
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
Definition of the vpImage class member functions.
Definition: vpImage.h:73
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1115
unsigned int getHeight() const
Definition: vpImage.h:188
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 enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)