Visual Servoing Platform version 3.6.0
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testKeyPoint-6.cpp

Test descriptor extraction.

Test descriptor extraction.

/*
* 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 descriptor computation.
*/
#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 keypoint descriptor extraction.\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;
}
std::string getOpenCVType(int type)
{
std::string type_string = "";
switch (type) {
case CV_8U:
type_string = "CV_8U";
break;
case CV_8S:
type_string = "CV_8S";
break;
case CV_16U:
type_string = "CV_16U";
break;
case CV_16S:
type_string = "CV_16S";
break;
case CV_32S:
type_string = "CV_32S";
break;
case CV_32F:
type_string = "CV_32F";
break;
case CV_64F:
type_string = "CV_64F";
break;
default:
type_string = "Problem with type !";
break;
}
return type_string;
}
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.quarterSizeImage(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.");
}
vpKeyPoint keyPoints;
std::vector<std::string> descriptorNames;
#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)
descriptorNames.push_back("SIFT");
#endif
#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
descriptorNames.push_back("SURF");
#endif
descriptorNames.push_back("ORB");
#if (VISP_HAVE_OPENCV_VERSION >= 0x020403)
descriptorNames.push_back("BRISK");
#endif
#if defined(VISP_HAVE_OPENCV_XFEATURES2D) || (VISP_HAVE_OPENCV_VERSION < 0x030000)
descriptorNames.push_back("BRIEF");
#if (VISP_HAVE_OPENCV_VERSION >= 0x020402)
descriptorNames.push_back("FREAK");
#endif
#endif
#if defined(VISP_HAVE_OPENCV_XFEATURES2D)
descriptorNames.push_back("DAISY");
descriptorNames.push_back("LATCH");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
descriptorNames.push_back("VGG");
descriptorNames.push_back("BoostDesc");
#endif
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
descriptorNames.push_back("KAZE");
descriptorNames.push_back("AKAZE");
#endif
std::string detectorName = "FAST";
keyPoints.setDetector(detectorName);
std::vector<cv::KeyPoint> kpts;
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
}
for (std::vector<std::string>::const_iterator itd = descriptorNames.begin(); itd != descriptorNames.end(); ++itd) {
keyPoints.setExtractor(*itd);
if (*itd == "KAZE") {
detectorName = "KAZE";
keyPoints.setDetector(detectorName);
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
}
} else if (*itd == "AKAZE") {
detectorName = "AKAZE";
keyPoints.setDetector(detectorName);
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
}
} else if (*itd == "BoostDesc") {
#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
cv::Ptr<cv::Feature2D> boostDesc = keyPoints.getExtractor("BoostDesc");
// Init BIN BOOST descriptor for FAST keypoints
boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256, true, 5.0f);
#endif
}
double t = vpTime::measureTimeMs();
cv::Mat descriptor;
keyPoints.extract(I, kpts, descriptor);
std::cout << "Descriptor: " << descriptor.rows << "x" << descriptor.cols
<< " (rows x cols) ; type=" << getOpenCVType(descriptor.type()) << " for " << *itd << " method in " << t
<< " ms." << std::endl;
if (descriptor.empty()) {
std::stringstream ss;
ss << "No descriptor extracted 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::vpFeatureDescriptorType, std::string> mapOfDescriptorNames = keyPoints.getExtractorNames();
for (int i = 0; i < vpKeyPoint::DESCRIPTOR_TYPE_SIZE; i++) {
if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "KAZE") {
detectorName = "KAZE";
keyPoints.setDetector(detectorName);
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
}
} else if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "AKAZE") {
detectorName = "AKAZE";
keyPoints.setDetector(detectorName);
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
}
} else if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "BoostDesc") {
#if (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(VISP_HAVE_OPENCV_XFEATURES2D)
detectorName = "FAST";
keyPoints.setDetector(detectorName);
keyPoints.detect(I, kpts);
std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
if (kpts.empty()) {
std::stringstream ss;
ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
}
cv::Ptr<cv::Feature2D> boostDesc = keyPoints.getExtractor("BoostDesc");
// Init BIN BOOST descriptor for FAST keypoints
boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256, true, 5.0f);
#endif
}
double t = vpTime::measureTimeMs();
cv::Mat descriptor;
keyPoints.extract(I, kpts, descriptor);
std::cout << "Descriptor: " << descriptor.rows << "x" << descriptor.cols
<< " (rows x cols) ; type=" << getOpenCVType(descriptor.type()) << " for "
<< mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] << " method in " << t << " ms."
<< std::endl;
if (descriptor.empty()) {
std::stringstream ss;
ss << "No descriptor extracted with " << mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i]
<< " 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-6 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 quarterSizeImage(vpImage< Type > &res) const
Definition vpImage.h:1502
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
void setExtractor(const vpFeatureDescriptorType &extractorType)
Definition vpKeyPoint.h:823
cv::Ptr< cv::DescriptorExtractor > getExtractor(const vpFeatureDescriptorType &type) const
Definition vpKeyPoint.h:536
void extract(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, std::vector< cv::Point3f > *trainPoints=NULL)
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
vpFeatureDescriptorType
Definition vpKeyPoint.h:278
@ DESCRIPTOR_TYPE_SIZE
Definition vpKeyPoint.h:306
std::map< vpFeatureDescriptorType, std::string > getExtractorNames() const
Definition vpKeyPoint.h:576
void setDetector(const vpFeatureDetectorType &detectorType)
Definition vpKeyPoint.h:765
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
VISP_EXPORT double measureTimeMs()