ViSP  3.0.0
testKeyPoint-5.cpp
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Test keypoints detection with OpenCV, specially the Pyramid implementation
32  * feature misssing in OpenCV 3.0.
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/io/vpImageIo.h>
47 #include <visp3/gui/vpDisplayX.h>
48 #include <visp3/gui/vpDisplayGTK.h>
49 #include <visp3/gui/vpDisplayGDI.h>
50 #include <visp3/gui/vpDisplayOpenCV.h>
51 #include <visp3/core/vpIoTools.h>
52 #include <visp3/io/vpParseArgv.h>
53 #include <visp3/vision/vpKeyPoint.h>
54 
55 // List of allowed command line options
56 #define GETOPTARGS "cdh"
57 
58 void usage(const char *name, const char *badparam);
59 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
60 
69 void usage(const char *name, const char *badparam)
70 {
71  fprintf(stdout, "\n\
72 Test keypoints detection.\n\
73 \n\
74 SYNOPSIS\n\
75  %s [-c] [-d] [-h]\n", name);
76 
77  fprintf(stdout, "\n\
78 OPTIONS: \n\
79 \n\
80  -c\n\
81  Disable the mouse click. Useful to automaze the \n\
82  execution of this program without humain intervention.\n\
83 \n\
84  -d \n\
85  Turn off the display.\n\
86 \n\
87  -h\n\
88  Print the help.\n");
89 
90  if (badparam)
91  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
92 }
93 
105 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
106 {
107  const char *optarg_;
108  int c;
109  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
110 
111  switch (c) {
112  case 'c': click_allowed = false; break;
113  case 'd': display = false; break;
114  case 'h': usage(argv[0], NULL); return false; break;
115 
116  default:
117  usage(argv[0], optarg_);
118  return false; break;
119  }
120  }
121 
122  if ((c == 1) || (c == -1)) {
123  // standalone param or error
124  usage(argv[0], NULL);
125  std::cerr << "ERROR: " << std::endl;
126  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
127  return false;
128  }
129 
130  return true;
131 }
132 
139 int main(int argc, const char ** argv) {
140  try {
141  std::string env_ipath;
142  bool opt_click_allowed = true;
143  bool opt_display = true;
144 
145  // Read the command line options
146  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
147  exit (-1);
148  }
149 
150  //Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH environment variable value
151  env_ipath = vpIoTools::getViSPImagesDataPath();
152 
153  if(env_ipath.empty()) {
154  std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment variable value." << std::endl;
155  return -1;
156  }
157 
159 
160  //Set the path location of the image sequence
161  std::string dirname = vpIoTools::createFilePath(env_ipath, "ViSP-images/Klimt");
162 
163  //Build the name of the image files
164  std::string filename = vpIoTools::createFilePath(dirname, "/Klimt.png");
165  vpImageIo::read(I, filename);
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) {
178  display.init(I, 0, 0, "KeyPoints detection.");
179  }
180 
181  vpKeyPoint keyPoints;
182 
183  //Will test the different types of keypoints detection to see if there is a problem
184  //between OpenCV versions, modules or constructors
185  std::vector<std::string> detectorNames;
186  detectorNames.push_back("PyramidFAST");
187  detectorNames.push_back("FAST");
188  detectorNames.push_back("PyramidMSER");
189  detectorNames.push_back("MSER");
190  detectorNames.push_back("PyramidGFTT");
191  detectorNames.push_back("GFTT");
192  detectorNames.push_back("PyramidSimpleBlob");
193  detectorNames.push_back("SimpleBlob");
194  //In contrib modules
195 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
196  detectorNames.push_back("PyramidSTAR");
197  detectorNames.push_back("STAR");
198 #endif
199 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
200  detectorNames.push_back("PyramidAGAST");
201  detectorNames.push_back("AGAST");
202 #endif
203 // detectorNames.push_back("PyramidORB");
204  detectorNames.push_back("ORB");
205 #if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
206 // detectorNames.push_back("PyramidBRISK");
207  detectorNames.push_back("BRISK");
208 #endif
209 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
210  detectorNames.push_back("PyramidKAZE");
211  detectorNames.push_back("KAZE");
212  detectorNames.push_back("PyramidAKAZE");
213  detectorNames.push_back("AKAZE");
214 #endif
215 
216 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
217  detectorNames.push_back("PyramidSIFT");
218  detectorNames.push_back("SIFT");
219  detectorNames.push_back("PyramidSURF");
220  detectorNames.push_back("SURF");
221 #endif
222 
223  for(std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
224  keyPoints.setDetector(*itd);
225 
226  std::vector<cv::KeyPoint> kpts;
227  double elapsedTime;
228  keyPoints.detect(I, kpts, elapsedTime);
229  std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
230  if(kpts.empty()) {
231  std::cerr << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
232 // return -1;
233  }
234 
235  if (opt_display) {
237 
238  for(std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
239  vpImagePoint imPt;
240  imPt.set_uv(it->pt.x, it->pt.y);
241 
243  }
244 
245  vpDisplay::flush(I);
246 
247  if(opt_click_allowed) {
249  }
250  }
251  }
252 
253  } catch(vpException &e) {
254  std::cerr << e.what() << std::endl;
255  return -1;
256  }
257 
258  std::cout << "testKeyPoint-5 is ok !" << std::endl;
259  return 0;
260 }
261 #else
262 int main() {
263  std::cerr << "You need OpenCV library." << std::endl;
264 
265  return 0;
266 }
267 
268 #endif
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1091
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, double &elapsedTime, const vpRect &rectangle=vpRect())
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Define the X11 console to display images.
Definition: vpDisplayX.h:148
error that can be emited by ViSP classes.
Definition: vpException.h:73
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2233
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:76
static const vpColor red
Definition: vpColor.h:163
const char * what() const
static std::string createFilePath(const std::string &parent, const std::string child)
Definition: vpIoTools.cpp:1265
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:206
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Definition: vpDisplayGTK.h:141
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:213
void set_uv(const double u, const double v)
Definition: vpImagePoint.h:234
void setDetector(const std::string &detectorName)
Definition: vpKeyPoint.h:563
virtual bool getClick(bool blocking=true)=0
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static void read(vpImage< unsigned char > &I, const char *filename)
Definition: vpImageIo.cpp:274