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;
148 int main(
int argc,
const char **argv)
151 std::string env_ipath;
152 bool opt_click_allowed =
true;
153 bool opt_display =
true;
156 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
164 if (env_ipath.empty()) {
165 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment " 181 #if defined VISP_HAVE_X11 183 #elif defined VISP_HAVE_GTK 185 #elif defined VISP_HAVE_GDI 192 display.
init(I, 0, 0,
"KeyPoints detection.");
197 std::cout <<
"INFORMATION: " << std::endl;
198 std::cout <<
"Here, we want to test feature detection on a pyramid of images " 200 "that are scale invariant to detect potential problem in ViSP." 207 std::vector<std::string> detectorNames;
208 detectorNames.push_back(
"PyramidFAST");
209 detectorNames.push_back(
"FAST");
210 detectorNames.push_back(
"PyramidMSER");
211 detectorNames.push_back(
"MSER");
212 detectorNames.push_back(
"PyramidGFTT");
213 detectorNames.push_back(
"GFTT");
214 detectorNames.push_back(
"PyramidSimpleBlob");
215 detectorNames.push_back(
"SimpleBlob");
217 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) || defined(VISP_HAVE_OPENCV_XFEATURES2D) 218 detectorNames.push_back(
"PyramidSTAR");
219 detectorNames.push_back(
"STAR");
221 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000) 222 detectorNames.push_back(
"PyramidAGAST");
223 detectorNames.push_back(
"AGAST");
225 detectorNames.push_back(
"PyramidORB");
226 detectorNames.push_back(
"ORB");
227 #if (VISP_HAVE_OPENCV_VERSION >= 0x020403) 228 detectorNames.push_back(
"PyramidBRISK");
229 detectorNames.push_back(
"BRISK");
231 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000) 232 detectorNames.push_back(
"PyramidKAZE");
233 detectorNames.push_back(
"KAZE");
234 detectorNames.push_back(
"PyramidAKAZE");
235 detectorNames.push_back(
"AKAZE");
238 #if defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) 239 detectorNames.push_back(
"PyramidSIFT");
240 detectorNames.push_back(
"SIFT");
241 detectorNames.push_back(
"PyramidSURF");
242 detectorNames.push_back(
"SURF");
245 for (std::vector<std::string>::const_iterator itd = detectorNames.begin(); itd != detectorNames.end(); ++itd) {
248 std::vector<cv::KeyPoint> kpts;
250 keyPoints.
detect(I, kpts);
251 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " << *itd <<
" method." << std::endl;
253 std::cerr <<
"No keypoints detected with " << *itd <<
" and image: " << filename <<
"." << std::endl;
260 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
262 imPt.
set_uv(it->pt.x, it->pt.y);
269 if (opt_click_allowed) {
277 std::map<vpKeyPoint::vpFeatureDetectorType, std::string> mapOfDetectorNames = keyPoints.
getDetectorNames();
281 std::vector<cv::KeyPoint> kpts;
283 keyPoints.
detect(I, kpts);
284 std::cout <<
"Nb keypoints detected: " << kpts.size() <<
" for " 288 <<
" method and image: " << filename <<
"." << std::endl;
295 for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
297 imPt.
set_uv(it->pt.x, it->pt.y);
304 if (opt_click_allowed) {
311 std::cerr << e.
what() << std::endl;
315 std::cout <<
"testKeyPoint-5 is ok !" << std::endl;
323 std::cerr <<
"You need OpenCV library." << std::endl;
void halfSizeImage(vpImage< Type > &res) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Display for windows using GDI (available on any windows 32 platform).
std::map< vpFeatureDetectorType, std::string > getDetectorNames() const
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setDetector(const vpFeatureDetectorType &detectorType)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
const char * what() const
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void read(vpImage< unsigned char > &I, const std::string &filename)
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
void set_uv(const double u, const double v)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())