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Visual Servoing Platform
version 3.3.0
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42 #include <visp3/core/vpConfig.h>
44 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301)
46 #include <visp3/core/vpImage.h>
47 #include <visp3/core/vpIoTools.h>
48 #include <visp3/gui/vpDisplayGDI.h>
49 #include <visp3/gui/vpDisplayGTK.h>
50 #include <visp3/gui/vpDisplayOpenCV.h>
51 #include <visp3/gui/vpDisplayX.h>
52 #include <visp3/io/vpImageIo.h>
53 #include <visp3/io/vpParseArgv.h>
54 #include <visp3/vision/vpKeyPoint.h>
57 #define GETOPTARGS "cdh"
59 void usage(
const char *name,
const char *badparam);
60 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
70 void usage(
const char *name,
const char *badparam)
73 Test keypoints detection.\n\
76 %s [-c] [-d] [-h]\n", name);
82 Disable the mouse click. Useful to automaze the \n\
83 execution of this program without humain intervention.\n\
86 Turn off the display.\n\
92 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
106 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
114 click_allowed =
false;
120 usage(argv[0], NULL);
125 usage(argv[0], optarg_);
131 if ((c == 1) || (c == -1)) {
133 usage(argv[0], NULL);
134 std::cerr <<
"ERROR: " << std::endl;
135 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
142 template<
typename Type>
143 void run_test(
const std::string &env_ipath,
bool opt_click_allowed,
bool opt_display,
154 #if defined VISP_HAVE_X11
156 #elif defined VISP_HAVE_GTK
158 #elif defined VISP_HAVE_GDI
165 display.init(I, 0, 0,
"KeyPoints detection.");
170 std::cout <<
"INFORMATION: " << std::endl;
171 std::cout <<
"Here, we want to test feature detection on a pyramid of images "
173 "that are scale invariant to detect potential problem in ViSP."
180 std::vector<std::string> detectorNames;
181 detectorNames.push_back(
"PyramidFAST");
182 detectorNames.push_back(
"FAST");
183 detectorNames.push_back(
"PyramidMSER");
184 detectorNames.push_back(
"MSER");
185 detectorNames.push_back(
"PyramidGFTT");
186 detectorNames.push_back(
"GFTT");
187 detectorNames.push_back(
"PyramidSimpleBlob");
188 detectorNames.push_back(
"SimpleBlob");
190 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
191 detectorNames.push_back(
"PyramidSTAR");
192 detectorNames.push_back(
"STAR");
194 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
195 detectorNames.push_back(
"PyramidAGAST");
196 detectorNames.push_back(
"AGAST");
198 detectorNames.push_back(
"PyramidORB");
199 detectorNames.push_back(
"ORB");
200 #if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
201 detectorNames.push_back(
"PyramidBRISK");
202 detectorNames.push_back(
"BRISK");
204 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
205 detectorNames.push_back(
"PyramidKAZE");
206 detectorNames.push_back(
"KAZE");
207 detectorNames.push_back(
"PyramidAKAZE");
208 detectorNames.push_back(
"AKAZE");
211 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
212 detectorNames.push_back(
"PyramidSIFT");
213 detectorNames.push_back(
"SIFT");
214 detectorNames.push_back(
"PyramidSURF");
215 detectorNames.push_back(
"SURF");
218 for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
221 std::vector<cv::KeyPoint> kpts;
223 keyPoints.
detect(I, kpts);
224 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << *itd <<
" method." << std::endl;
226 std::stringstream ss;
227 ss <<
"No keypoints detected with " << *itd <<
" and image: " << filename <<
"." << std::endl;
234 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
236 imPt.
set_uv(it->pt.x, it->pt.y);
243 if (opt_click_allowed) {
251 std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.
getDetectorNames();
255 std::vector<cv::KeyPoint> kpts;
257 keyPoints.
detect(I, kpts);
258 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for "
261 std::stringstream ss;
263 <<
" method and image: " << filename <<
"." << std::endl;
270 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
272 imPt.
set_uv(it->pt.x, it->pt.y);
279 if (opt_click_allowed) {
292 int main(
int argc,
const char **argv)
295 std::string env_ipath;
296 bool opt_click_allowed =
true;
297 bool opt_display =
true;
300 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
308 if (env_ipath.empty()) {
309 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
318 std::cout <<
"-- Test on gray level images" << std::endl;
319 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
325 std::cout <<
"-- Test on color images" << std::endl;
326 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
330 std::cerr << e.
what() << std::endl;
334 std::cout <<
"testKeyPoint-5 is ok !" << std::endl;
342 std::cerr <<
"You need OpenCV library." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void halfSizeImage(vpImage< Type > &res) const
static void read(vpImage< unsigned char > &I, const std::string &filename)
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
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...
const char * what() const
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void flush(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)
Definition of the vpImage class member functions.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setDetector(const vpFeatureDetectorType &detectorType)
error that can be emited by ViSP classes.
void set_uv(double u, double v)