Visual Servoing Platform version 3.6.0
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testKeyPoint-5.cpp

Test keypoints detection with OpenCV, specially the Pyramid implementation feature missing in OpenCV 3.0.

Test keypoints detection with OpenCV, specially the Pyramid implementation feature missing in OpenCV 3.0.

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 keypoints detection with OpenCV, specially the Pyramid implementation
* feature misssing in OpenCV 3.0.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D) && defined(HAVE_OPENCV_VIDEO)
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vision/vpKeyPoint.h>
// List of allowed command line options
#define GETOPTARGS "cdh"
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 detection.\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], NULL);
return false;
break;
default:
usage(argv[0], optarg_);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
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> &Iinput,
{
// Set the path location of the image sequence
std::string dirname = vpIoTools::createFilePath(env_ipath, "Klimt");
// Build the name of the image files
std::string filename = vpIoTools::createFilePath(dirname, "/Klimt.png");
vpImageIo::read(Iinput, filename);
Iinput.halfSizeImage(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#endif
if (opt_display) {
display.init(I, 0, 0, "KeyPoints detection.");
}
// Here, we want to test feature detection on a pyramid of images even for
// features that are scale invariant to detect potential problem in ViSP.
std::cout << "INFORMATION: " << std::endl;
std::cout << "Here, we want to test feature detection on a pyramid of images even for features "
"that are scale invariant to detect potential problem in ViSP."
<< std::endl
<< std::endl;
vpKeyPoint keyPoints;
// Will test the different types of keypoints detection to see if there is
// a problem between OpenCV versions, modules or constructors
std::vector<std::string> detectorNames;
detectorNames.push_back("PyramidFAST");
detectorNames.push_back("FAST");
detectorNames.push_back("PyramidMSER");
detectorNames.push_back("MSER");
detectorNames.push_back("PyramidGFTT");
detectorNames.push_back("GFTT");
detectorNames.push_back("PyramidSimpleBlob");
detectorNames.push_back("SimpleBlob");
// In contrib modules
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
detectorNames.push_back("PyramidSTAR");
detectorNames.push_back("STAR");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
detectorNames.push_back("PyramidAGAST");
detectorNames.push_back("AGAST");
#endif
detectorNames.push_back("PyramidORB");
detectorNames.push_back("ORB");
#if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
detectorNames.push_back("PyramidBRISK");
detectorNames.push_back("BRISK");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
detectorNames.push_back("PyramidKAZE");
detectorNames.push_back("KAZE");
detectorNames.push_back("PyramidAKAZE");
detectorNames.push_back("AKAZE");
#endif
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
(VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
#if (VISP_HAVE_OPENCV_VERSION != 0x040504) && (VISP_HAVE_OPENCV_VERSION != 0x040505) && \
(VISP_HAVE_OPENCV_VERSION != 0x040600) && (VISP_HAVE_OPENCV_VERSION != 0x040700) && \
(defined(__APPLE__) && defined(__MACH__))
// SIFT is known to be unstable with OpenCV 4.5.4 and 4.5.5 on macOS (see #1048)
// Same for OpenCV 4.6.0 (see #1106) where it produces an Illegal Instruction error when OpenCV 4.6.0 is
// installed with brew. It seems working when OpenCV is build from source
detectorNames.push_back("PyramidSIFT");
detectorNames.push_back("SIFT");
#endif
#endif
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
detectorNames.push_back("PyramidSURF");
detectorNames.push_back("SURF");
#endif
for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
keyPoints.setDetector(*itd);
std::vector<cv::KeyPoint> kpts;
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << *itd << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << *itd << " and image: " << filename << "." << std::endl;
}
if (opt_display) {
for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
imPt.set_uv(it->pt.x, it->pt.y);
}
if (opt_click_allowed) {
}
}
}
std::cout << "\n\n";
std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.getDetectorNames();
for (int i = 0; i < vpKeyPoint::DETECTOR_TYPE_SIZE; i++) {
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
(VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
#if ((VISP_HAVE_OPENCV_VERSION == 0x040504) || (VISP_HAVE_OPENCV_VERSION == 0x040505) || \
(VISP_HAVE_OPENCV_VERSION == 0x040600) || (VISP_HAVE_OPENCV_VERSION == 0x040700)) && \
(defined(__APPLE__) && defined(__MACH__))
// SIFT is known to be unstable with OpenCV 4.5.4 and 4.5.5 on macOS (see #1048)
// Same for OpenCV 4.6.0 (see #1106) where it produces an Illegal Instruction error when OpenCV 4.6.0 is
// installed with brew. It seems working when OpenCV is build from source
continue;
}
#endif
#endif
std::vector<cv::KeyPoint> kpts;
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for "
<< mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i] << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << mapOfDetectorNames[(vpKeyPoint::vpFeatureDetectorType)i]
<< " method and image: " << filename << "." << std::endl;
}
if (opt_display) {
for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
imPt.set_uv(it->pt.x, it->pt.y);
}
if (opt_click_allowed) {
}
}
}
}
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) {
exit(EXIT_FAILURE);
}
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
if (env_ipath.empty()) {
std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
"variable value."
<< std::endl;
return EXIT_FAILURE;
}
{
std::cout << "-- Test on gray level images" << std::endl;
run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
}
{
vpImage<vpRGBa> Iinput, I;
std::cout << "-- Test on color images" << std::endl;
run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
}
} catch (const vpException &e) {
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
std::cout << "testKeyPoint-5 is ok !" << std::endl;
return EXIT_SUCCESS;
}
#else
#include <cstdlib>
int main()
{
std::cerr << "You need OpenCV library." << std::endl;
return EXIT_SUCCESS;
}
#endif
static const vpColor red
Definition vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
const char * what() const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_uv(double u, double v)
Definition of the vpImage class member functions.
Definition vpImage.h:135
void halfSizeImage(vpImage< Type > &res) const
Definition vpImage.h:1438
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition vpKeyPoint.h:212
@ DETECTOR_TYPE_SIZE
Definition vpKeyPoint.h:274
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
Definition vpKeyPoint.h:520
void setDetector(const vpFeatureDetectorType &detectorType)
Definition vpKeyPoint.h:765
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)