testKeyPoint-3.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 keypoint matching with mostly OpenCV functions calls
 * to detect potential memory leaks in testKeyPoint.cpp.
 */

 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && (defined(HAVE_OPENCV_FEATURES2D) || defined(HAVE_OPENCV_FEATURES))
 
#if defined(HAVE_OPENCV_FEATURES)
#include <opencv2/features.hpp>
#endif
 
#if defined(HAVE_OPENCV_FEATURES2D)
#include <opencv2/features2d/features2d.hpp>
#endif
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
 
// List of allowed command line options
#define GETOPTARGS "cdh"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 keypoints matching.\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], nullptr);
      return false;
 
    default:
      usage(argv[0], optarg_);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}
 
template <typename Type>
void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_display, vpImage<Type> &Iref,
              vpImage<Type> &Icur, vpImage<Type> &Imatch)
{
#if defined(VISP_HAVE_DATASET)
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
#else
  // We suppose that the user will download a recent dataset
  std::string ext("png");
#endif
  // Set the path location of the image sequence
  std::string dirname = vpIoTools::createFilePath(env_ipath, "mbt/cube");
 
  // Build the name of the image files
  std::string filenameRef = vpIoTools::createFilePath(dirname, "image0000." + ext);
  vpImageIo::read(Iref, filenameRef);
  std::string filenameCur = vpIoTools::createFilePath(dirname, "image%04d." + ext);
 
  // Init keypoints
  cv::Ptr<cv::FeatureDetector> detector;
  cv::Ptr<cv::DescriptorExtractor> extractor;
  cv::Ptr<cv::DescriptorMatcher> matcher;
 
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030000)
  detector = cv::ORB::create();
  extractor = cv::ORB::create();
#elif defined(VISP_HAVE_OPENCV)
  detector = cv::FeatureDetector::create("ORB");
  extractor = cv::DescriptorExtractor::create("ORB");
#endif
  matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
 
  std::vector<cv::KeyPoint> trainKeyPoints;
  cv::Mat matImg, trainDescriptors;
  vpImageConvert::convert(Iref, matImg);
  detector->detect(matImg, trainKeyPoints);
  extractor->compute(matImg, trainKeyPoints, trainDescriptors);
 
  vpVideoReader g;
  g.setFileName(filenameCur);
  g.open(Icur);
  g.acquire(Icur);
 
  Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
  Imatch.insert(Iref, vpImagePoint(0, 0));
 
  vpDisplay *display = nullptr;
 
  if (opt_display) {
#ifdef VISP_HAVE_DISPLAY
    display = vpDisplayFactory::allocateDisplay(Imatch, 0, 0, "ORB keypoints matching");
    display->setDownScalingFactor(vpDisplay::SCALE_AUTO);
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
  }
 
  bool opt_click = false;
  vpMouseButton::vpMouseButtonType button;
  while (!g.end()) {
    g.acquire(Icur);
    Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
 
    if (opt_display) {
      vpDisplay::display(Imatch);
    }
 
    vpImageConvert::convert(Icur, matImg);
    std::vector<cv::KeyPoint> queryKeyPoints;
    detector->detect(matImg, queryKeyPoints);
 
    cv::Mat queryDescriptors;
    extractor->compute(matImg, queryKeyPoints, queryDescriptors);
 
    std::vector<std::vector<cv::DMatch> > knn_matches;
    std::vector<cv::DMatch> matches;
    matcher->knnMatch(queryDescriptors, trainDescriptors, knn_matches, 2);
    for (std::vector<std::vector<cv::DMatch> >::const_iterator it = knn_matches.begin(); it != knn_matches.end();
         ++it) {
      if (it->size() > 1) {
        double ratio = (*it)[0].distance / (*it)[1].distance;
        if (ratio < 0.85) {
          matches.push_back((*it)[0]);
        }
      }
    }
 
    if (opt_display) {
      for (std::vector<cv::DMatch>::const_iterator it = matches.begin(); it != matches.end(); ++it) {
        vpImagePoint leftPt(trainKeyPoints[static_cast<size_t>(it->trainIdx)].pt.y, trainKeyPoints[static_cast<size_t>(it->trainIdx)].pt.x);
        vpImagePoint rightPt(queryKeyPoints[static_cast<size_t>(it->queryIdx)].pt.y,
                             queryKeyPoints[static_cast<size_t>(it->queryIdx)].pt.x + Iref.getWidth());
        vpDisplay::displayLine(Imatch, leftPt, rightPt, vpColor::green);
      }
 
      vpDisplay::flush(Imatch);
    }
 
    // Click requested to process next image
    if (opt_click_allowed && opt_display) {
      if (opt_click) {
        vpDisplay::getClick(Imatch, button, true);
        if (button == vpMouseButton::button3) {
          opt_click = false;
        }
      }
      else {
     // Use right click to enable/disable step by step tracking
        if (vpDisplay::getClick(Imatch, button, false)) {
          if (button == vpMouseButton::button3) {
            opt_click = true;
          }
          else if (button == vpMouseButton::button1) {
            break;
          }
        }
      }
    }
  }
 
  if (display) {
    delete display;
  }
}
 
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) {
      return EXIT_FAILURE;
    }
 
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();
 
    if (env_ipath.empty()) {
      std::cerr << "Please set the VISP_INPUT_IMAGE_PATH environment "
        "variable value."
        << std::endl;
      return EXIT_FAILURE;
    }
 
    {
      vpImage<unsigned char> Iref, Icur, Imatch;
 
      std::cout << "-- Test on gray level images" << std::endl;
      run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
    }
 
    {
      vpImage<vpRGBa> Iref, Icur, Imatch;
 
      std::cout << "-- Test on color images" << std::endl;
      run_test(env_ipath, opt_click_allowed, opt_display, Iref, Icur, Imatch);
    }
 
  }
  catch (const vpException &e) {
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
  }
 
  std::cout << "testKeyPoint-3 is ok !" << std::endl;
  return EXIT_SUCCESS;
}
 
#else
int main()
{
  std::cerr << "You need OpenCV library." << std::endl;
 
  return EXIT_SUCCESS;
}
 
#endif