36#include <visp3/core/vpConfig.h>
38#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D) && defined(HAVE_OPENCV_VIDEO)
40#include <visp3/core/vpImage.h>
41#include <visp3/core/vpIoTools.h>
42#include <visp3/gui/vpDisplayGDI.h>
43#include <visp3/gui/vpDisplayGTK.h>
44#include <visp3/gui/vpDisplayOpenCV.h>
45#include <visp3/gui/vpDisplayX.h>
46#include <visp3/io/vpImageIo.h>
47#include <visp3/io/vpParseArgv.h>
48#include <visp3/io/vpVideoReader.h>
49#include <visp3/mbt/vpMbEdgeTracker.h>
50#include <visp3/vision/vpKeyPoint.h>
53#define GETOPTARGS "cdph"
55void usage(
const char *name,
const char *badparam);
56bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
66void usage(
const char *name,
const char *badparam)
69Test keypoints matching.\n\
72 %s [-c] [-d] [-p] [-h]\n",
79 Disable the mouse click. Useful to automate the \n\
80 execution of this program without human intervention.\n\
83 Turn off the display.\n\
86 Use parallel RANSAC.\n\
92 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
106bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display,
bool &use_parallel_ransac)
114 click_allowed =
false;
120 use_parallel_ransac =
true;
123 usage(argv[0], NULL);
128 usage(argv[0], optarg_);
134 if ((c == 1) || (c == -1)) {
136 usage(argv[0], NULL);
137 std::cerr <<
"ERROR: " << std::endl;
138 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
145template <
typename Type>
146void run_test(
const std::string &env_ipath,
bool opt_click_allowed,
bool opt_display,
bool use_parallel_ransac,
149#if VISP_HAVE_DATASET_VERSION >= 0x030600
150 std::string ext(
"png");
152 std::string ext(
"pgm");
162#if defined(VISP_HAVE_X11)
164#elif defined(VISP_HAVE_GTK)
166#elif defined(VISP_HAVE_GDI)
168#elif defined(HAVE_OPENCV_HIGHGUI)
174 display.init(I, 0, 0,
"ORB keypoints matching and pose estimation");
213 if (opt_display && opt_click_allowed) {
217 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
226 vpKeyPoint keypoints(
"ORB",
"ORB",
"BruteForce-Hamming");
227 keypoints.setRansacParallel(use_parallel_ransac);
228#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
231 keypoints.setMatcher(
"FlannBased");
232#if (VISP_HAVE_OPENCV_VERSION < 0x030000)
233 keypoints.setDetectorParameter(
"ORB",
"nLevels", 1);
235 cv::Ptr<cv::ORB> orb_detector = keypoints.getDetector(
"ORB").dynamicCast<cv::ORB>();
237 orb_detector->setNLevels(1);
243 std::vector<cv::KeyPoint> trainKeyPoints;
245 keypoints.detect(I, trainKeyPoints, elapsedTime);
248 std::vector<vpPolygon> polygons;
249 std::vector<std::vector<vpPoint> > roisPt;
250 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair =
252 polygons = pair.first;
253 roisPt = pair.second;
256 std::vector<cv::Point3f> points3f;
260 keypoints.buildReference(I, trainKeyPoints, points3f,
false, 1);
267 cMo.
buildFrom(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828);
271 keypoints.detect(I, trainKeyPoints, elapsedTime);
276 polygons = pair.first;
277 roisPt = pair.second;
283 keypoints.buildReference(I, trainKeyPoints, points3f,
true, 2);
290 cMo.
buildFrom(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025);
294 keypoints.detect(I, trainKeyPoints, elapsedTime);
298 polygons = pair.first;
299 roisPt = pair.second;
305 keypoints.buildReference(I, trainKeyPoints, points3f,
true, 3);
313#if defined(VISP_HAVE_X11)
315#elif defined(VISP_HAVE_GTK)
317#elif defined(VISP_HAVE_GDI)
319#elif defined(HAVE_OPENCV_HIGHGUI)
323 keypoints.createImageMatching(I, IMatching);
330 bool opt_click =
false;
333 std::vector<double> times_vec;
334 while ((opt_display && !g.
end()) || (!opt_display && g.
getFrameIndex() < 30)) {
341 keypoints.insertImageMatching(I, IMatching);
347 if (keypoints.matchPoint(I, cam, cMo, error, elapsedTime)) {
348 times_vec.push_back(elapsedTime);
357 std::vector<vpImagePoint> ransacInliers = keypoints.getRansacInliers();
358 std::vector<vpImagePoint> ransacOutliers = keypoints.getRansacOutliers();
360 for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
363 imPt.set_u(imPt.get_u() + I.
getWidth());
364 imPt.set_v(imPt.get_v() + I.
getHeight());
368 for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
371 imPt.set_u(imPt.get_u() + I.
getWidth());
372 imPt.set_v(imPt.get_v() + I.
getHeight());
376 keypoints.displayMatching(I, IMatching);
383 tracker.
setPose(IMatching, cMo);
394 if (opt_click_allowed && opt_display) {
416 if (!times_vec.empty()) {
428int main(
int argc,
const char **argv)
431 std::string env_ipath;
432 bool opt_click_allowed =
true;
433 bool opt_display =
true;
434 bool use_parallel_ransac =
false;
437 if (getOptions(argc, argv, opt_click_allowed, opt_display, use_parallel_ransac) ==
false) {
445 if (env_ipath.empty()) {
446 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
455 std::cout <<
"-- Test on gray level images" << std::endl;
457 run_test(env_ipath, opt_click_allowed, opt_display, use_parallel_ransac, I, IMatching);
462 std::cout <<
"-- Test on color images" << std::endl;
464 run_test(env_ipath, opt_click_allowed, opt_display, use_parallel_ransac, I, IMatching);
469 std::cerr << e.
what() << std::endl;
473 std::cout <<
"testKeyPoint-2 is ok !" << std::endl;
479 std::cerr <<
"You need OpenCV library." << std::endl;
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor none
static const vpColor green
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...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void displayCircle(const vpImage< unsigned char > &I, const vpImageCircle &circle, const vpColor &color, bool fill=false, unsigned int thickness=1)
virtual void setDownScalingFactor(unsigned int scale)
static void display(const vpImage< unsigned char > &I)
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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
unsigned int getDownScalingFactor()
error that can be emitted by ViSP classes.
const char * what() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
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 ...
Definition of the vpImage class member functions.
unsigned int getWidth() const
unsigned int getHeight() const
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
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)
static double rad(double deg)
static double getMedian(const std::vector< double > &v)
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static double getMean(const std::vector< double > &v)
Make the complete tracking of an object by using its CAD model.
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void setClipping(const unsigned int &flags)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
void setMovingEdge(const vpMe &me)
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 getCameraParameters(vpCameraParameters &cam) const
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setAngleDisappear(const double &a)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
virtual unsigned int getClipping() const
void setMu1(const double &mu_1)
void setSampleStep(const double &s)
void setRange(const unsigned int &r)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setMaskSize(const unsigned int &a)
void setNbTotalSample(const int &nb)
void setMu2(const double &mu_2)
@ NORMALIZED_THRESHOLD
Easy-to-use normalized likelihood threshold corresponding to the minimal luminance contrast to consid...
void setMaskNumber(const unsigned int &a)
void setThreshold(const double &t)
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...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
long getFrameIndex() const