 |
Visual Servoing Platform
version 3.3.0
|
42 #include <visp3/core/vpConfig.h>
44 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
46 #include <opencv2/core/core.hpp>
47 #include <opencv2/features2d/features2d.hpp>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpImage.h>
50 #include <visp3/core/vpIoTools.h>
51 #include <visp3/gui/vpDisplayGDI.h>
52 #include <visp3/gui/vpDisplayGTK.h>
53 #include <visp3/gui/vpDisplayOpenCV.h>
54 #include <visp3/gui/vpDisplayX.h>
55 #include <visp3/io/vpImageIo.h>
56 #include <visp3/io/vpParseArgv.h>
57 #include <visp3/io/vpVideoReader.h>
58 #include <visp3/mbt/vpMbEdgeTracker.h>
59 #include <visp3/vision/vpKeyPoint.h>
62 #define GETOPTARGS "cdh"
64 void usage(
const char *name,
const char *badparam);
65 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
75 void usage(
const char *name,
const char *badparam)
78 Test keypoints matching.\n\
81 %s [-c] [-d] [-h]\n", name);
87 Disable the mouse click. Useful to automate the \n\
88 execution of this program without human intervention.\n\
91 Turn off the display.\n\
97 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
111 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
119 click_allowed =
false;
125 usage(argv[0], NULL);
130 usage(argv[0], optarg_);
136 if ((c == 1) || (c == -1)) {
138 usage(argv[0], NULL);
139 std::cerr <<
"ERROR: " << std::endl;
140 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
147 template<
typename Type>
148 void run_test(
const std::string &env_ipath,
bool opt_click_allowed,
bool opt_display,
160 #if defined VISP_HAVE_X11
162 #elif defined VISP_HAVE_GTK
164 #elif defined VISP_HAVE_GDI
172 display.init(I, 0, 0,
"ORB keypoints matching");
184 #ifdef VISP_HAVE_PUGIXML
214 if (opt_display && opt_click_allowed) {
217 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
226 cv::Ptr<cv::FeatureDetector> detector;
227 cv::Ptr<cv::DescriptorExtractor> extractor;
228 cv::Ptr<cv::DescriptorMatcher> matcher;
230 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
231 detector = cv::ORB::create(500, 1.2f, 1);
232 extractor = cv::ORB::create(500, 1.2f, 1);
233 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020301)
234 detector = cv::FeatureDetector::create(
"ORB");
235 extractor = cv::DescriptorExtractor::create(
"ORB");
237 matcher = cv::DescriptorMatcher::create(
"BruteForce-Hamming");
239 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400 && VISP_HAVE_OPENCV_VERSION < 0x030000)
240 detector->set(
"nLevels", 1);
244 std::vector<cv::KeyPoint> trainKeyPoints;
247 detector->
detect(matImg, trainKeyPoints);
250 std::vector<vpPolygon> polygons;
251 std::vector<std::vector<vpPoint> > roisPt;
252 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.
getPolygonFaces(
false);
253 polygons = pair.first;
254 roisPt = pair.second;
257 std::vector<cv::Point3f> points3f;
261 cv::Mat trainDescriptors;
262 extractor->compute(matImg, trainKeyPoints, trainDescriptors);
264 if (trainKeyPoints.size() != (size_t)trainDescriptors.rows || trainKeyPoints.size() != points3f.size()) {
274 bool opt_click =
false;
276 while ((opt_display && !g.
end()) || (!opt_display && g.
getFrameIndex() < 30)) {
280 std::vector<cv::KeyPoint> queryKeyPoints;
281 detector->
detect(matImg, queryKeyPoints);
283 cv::Mat queryDescriptors;
284 extractor->compute(matImg, queryKeyPoints, queryDescriptors);
286 std::vector<std::vector<cv::DMatch> > knn_matches;
287 std::vector<cv::DMatch> matches;
288 matcher->knnMatch(queryDescriptors, trainDescriptors, knn_matches, 2);
289 for (std::vector<std::vector<cv::DMatch> >::const_iterator it = knn_matches.begin(); it != knn_matches.end();
291 if (it->size() > 1) {
292 double ratio = (*it)[0].distance / (*it)[1].distance;
294 matches.push_back((*it)[0]);
300 for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
301 vpPoint pt(points3f[(
size_t)(it->trainIdx)].x, points3f[(
size_t)(it->trainIdx)].y,
302 points3f[(
size_t)(it->trainIdx)].z);
304 double x = 0.0, y = 0.0;
306 queryKeyPoints[(
size_t)(it->queryIdx)].pt.y, x, y);
313 bool is_pose_estimated =
false;
314 if (estimated_pose.
npt >= 4) {
316 unsigned int nb_inliers = (
unsigned int)(0.6 * estimated_pose.
npt);
321 is_pose_estimated =
true;
323 is_pose_estimated =
false;
332 for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
333 vpImagePoint leftPt(trainKeyPoints[(
size_t)it->trainIdx].pt.y, trainKeyPoints[(
size_t)it->trainIdx].pt.x);
334 vpImagePoint rightPt(queryKeyPoints[(
size_t)it->queryIdx].pt.y,
335 queryKeyPoints[(
size_t)it->queryIdx].pt.x + Iref.
getWidth());
339 if (is_pose_estimated) {
350 if (opt_click_allowed && opt_display) {
376 int main(
int argc,
const char **argv)
379 std::string env_ipath;
380 bool opt_click_allowed =
true;
381 bool opt_display =
true;
384 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
392 if (env_ipath.empty()) {
393 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
403 std::cout <<
"-- Test on gray level images" << std::endl;
404 run_test(env_ipath, opt_click_allowed, opt_display, I, Imatch, Iref);
410 std::cout <<
"-- Test on color images" << std::endl;
411 run_test(env_ipath, opt_click_allowed, opt_display, I, Imatch, Iref);
415 std::cerr << e.
what() << std::endl;
419 std::cout <<
"testKeyPoint-4 is ok !" << std::endl;
425 std::cerr <<
"You need OpenCV library." << std::endl;
virtual void setClipping(const unsigned int &flags)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
virtual void setAngleDisappear(const double &a)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
virtual void getCameraParameters(vpCameraParameters &cam) const
Make the complete tracking of an object by using its CAD model.
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static double rad(double deg)
virtual unsigned int getClipping() const
Generic class defining intrinsic camera parameters.
void setMovingEdge(const vpMe &me)
void setMu2(const double &mu_2)
void loadConfigFile(const std::string &configFile)
static void read(vpImage< unsigned char > &I, const std::string &filename)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
void setThreshold(const double &t)
void setRansacNbInliersToReachConsensus(const unsigned int &nbC)
virtual void setNearClippingDistance(const double &dist)
Display for windows using GDI (available on any windows 32 platform).
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual void getPose(vpHomogeneousMatrix &cMo) const
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
void addPoint(const vpPoint &P)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
void setRange(const unsigned int &r)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
long getFrameIndex() const
virtual void setFarClippingDistance(const double &dist)
bool detect(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void open(vpImage< vpRGBa > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static const vpColor green
void setRansacMaxTrials(const int &rM)
void setFileName(const std::string &filename)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void setMaskNumber(const unsigned int &a)
const char * what() const
unsigned int getHeight() const
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
virtual void setAngleAppear(const double &a)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void setRansacThreshold(const double &t)
static const vpColor none
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
void setNbTotalSample(const int &nb)
unsigned int getDownScalingFactor()
virtual void setCameraParameters(const vpCameraParameters &cam)
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
virtual void setDownScalingFactor(unsigned int scale)
void setSampleStep(const double &s)
static void flush(const vpImage< unsigned char > &I)
unsigned int npt
Number of point used in pose computation.
Definition of the vpImage class member functions.
Class that defines what is a point.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void compute3DForPointsInPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< cv::KeyPoint > &candidates, const std::vector< vpPolygon > &polygons, const std::vector< std::vector< vpPoint > > &roisPt, std::vector< cv::Point3f > &points, cv::Mat *descriptors=NULL)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMu1(const double &mu_1)
void setMaskSize(const unsigned int &a)
error that can be emited by ViSP classes.
void acquire(vpImage< vpRGBa > &I)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
unsigned int getWidth() const