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"
59void usage(
const char *name,
const char *badparam);
60bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
70void usage(
const char *name,
const char *badparam)
73Test 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);
106bool 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;
142template<
typename Type>
143void 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#if (VISP_HAVE_OPENCV_VERSION != 0x040504) && (defined(__APPLE__) && defined(__MACH__))
214 detectorNames.push_back(
"PyramidSIFT");
215 detectorNames.push_back(
"SIFT");
218#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)
219 detectorNames.push_back(
"PyramidSURF");
220 detectorNames.push_back(
"SURF");
223 for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
226 std::vector<cv::KeyPoint> kpts;
228 keyPoints.
detect(I, kpts);
229 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << *itd <<
" method." << std::endl;
231 std::stringstream ss;
232 ss <<
"No keypoints detected with " << *itd <<
" and image: " << filename <<
"." << std::endl;
239 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
241 imPt.
set_uv(it->pt.x, it->pt.y);
248 if (opt_click_allowed) {
256 std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.
getDetectorNames();
258#if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
259 (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
260#if (VISP_HAVE_OPENCV_VERSION == 0x040504) && (defined(__APPLE__) && defined(__MACH__))
268 std::vector<cv::KeyPoint> kpts;
270 keyPoints.
detect(I, kpts);
271 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for "
274 std::stringstream ss;
276 <<
" method and image: " << filename <<
"." << std::endl;
283 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
285 imPt.
set_uv(it->pt.x, it->pt.y);
292 if (opt_click_allowed) {
305int main(
int argc,
const char **argv)
308 std::string env_ipath;
309 bool opt_click_allowed =
true;
310 bool opt_display =
true;
313 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
321 if (env_ipath.empty()) {
322 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment "
331 std::cout <<
"-- Test on gray level images" << std::endl;
332 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
338 std::cout <<
"-- Test on color images" << std::endl;
339 run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
343 std::cerr << e.
what() << std::endl;
347 std::cout <<
"testKeyPoint-5 is ok !" << std::endl;
355 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, 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.
void halfSizeImage(vpImage< Type > &res) 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
void setDetector(const vpFeatureDetectorType &detectorType)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)