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 (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
213 detectorNames.push_back(
"PyramidSIFT");
214 detectorNames.push_back(
"SIFT");
216 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
217 detectorNames.push_back(
"PyramidSURF");
218 detectorNames.push_back(
"SURF");
221 for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
224 std::vector<cv::KeyPoint> kpts;
226 keyPoints.
detect(I, kpts);
227 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << *itd <<
" method." << std::endl;
229 std::stringstream ss;
230 ss <<
"No keypoints detected with " << *itd <<
" and image: " << filename <<
"." << std::endl;
237 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
239 imPt.
set_uv(it->pt.x, it->pt.y);
246 if (opt_click_allowed) {
254 std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.
getDetectorNames();
258 std::vector<cv::KeyPoint> kpts;
260 keyPoints.
detect(I, kpts);
261 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for "
264 std::stringstream ss;
266 <<
" method and image: " << filename <<
"." << std::endl;
273 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
275 imPt.
set_uv(it->pt.x, it->pt.y);
282 if (opt_click_allowed) {
295 int main(
int argc,
const char **argv)
298 std::string env_ipath;
299 bool opt_click_allowed =
true;
300 bool opt_display =
true;
303 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
311 if (env_ipath.empty()) {
312 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
321 std::cout <<
"-- Test on gray level images" << std::endl;
322 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
328 std::cout <<
"-- Test on color images" << std::endl;
329 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
333 std::cerr << e.
what() << std::endl;
337 std::cout <<
"testKeyPoint-5 is ok !" << std::endl;
345 std::cerr <<
"You need OpenCV library." << std::endl;
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...
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 emited by ViSP classes.
const char * what() const
static void read(vpImage< unsigned char > &I, const std::string &filename)
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.
void halfSizeImage(vpImage< Type > &res) const
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
void setDetector(const vpFeatureDetectorType &detectorType)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)