40 #include <visp3/core/vpConfig.h> 42 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301) 44 #include <visp3/vision/vpKeyPoint.h> 45 #include <visp3/core/vpImage.h> 46 #include <visp3/io/vpImageIo.h> 47 #include <visp3/gui/vpDisplayX.h> 48 #include <visp3/gui/vpDisplayGTK.h> 49 #include <visp3/gui/vpDisplayGDI.h> 50 #include <visp3/gui/vpDisplayOpenCV.h> 51 #include <visp3/io/vpVideoReader.h> 52 #include <visp3/core/vpIoTools.h> 53 #include <visp3/mbt/vpMbEdgeTracker.h> 54 #include <visp3/io/vpParseArgv.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 matching.\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)
113 case 'c': click_allowed =
false;
break;
114 case 'd': display =
false;
break;
115 case 'h': usage(argv[0], NULL);
return false;
break;
118 usage(argv[0], optarg_);
123 if ((c == 1) || (c == -1)) {
125 usage(argv[0], NULL);
126 std::cerr <<
"ERROR: " << std::endl;
127 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
139 int main(
int argc,
const char ** argv) {
141 std::string env_ipath;
142 bool opt_click_allowed =
true;
143 bool opt_display =
true;
146 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
153 if(env_ipath.empty()) {
154 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment variable value." << std::endl;
168 #if defined VISP_HAVE_X11 170 #elif defined VISP_HAVE_GTK 172 #elif defined VISP_HAVE_GDI 180 display.
init(I, 0, 0,
"ORB keypoints matching and pose estimation");
189 #ifdef VISP_HAVE_XML2 222 if (opt_display && opt_click_allowed) {
227 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
236 vpKeyPoint keypoints(
"ORB",
"ORB",
"BruteForce-Hamming");
237 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400) 240 keypoints.setMatcher(
"FlannBased");
241 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) 242 keypoints.setDetectorParameter(
"ORB",
"nLevels", 1);
244 cv::Ptr<cv::ORB> orb_detector = keypoints.getDetector(
"ORB").dynamicCast<cv::ORB>();
245 if(orb_detector != NULL) {
246 orb_detector->setNLevels(1);
252 std::vector<cv::KeyPoint> trainKeyPoints;
254 keypoints.detect(I, trainKeyPoints, elapsedTime);
257 std::vector<vpPolygon> polygons;
258 std::vector<std::vector<vpPoint> > roisPt;
259 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.
getPolygonFaces(
true);
260 polygons = pair.first;
261 roisPt = pair.second;
264 std::vector<cv::Point3f> points3f;
268 keypoints.buildReference(I, trainKeyPoints, points3f,
false, 1);
276 cMo.
buildFrom(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828);
280 keypoints.detect(I, trainKeyPoints, elapsedTime);
284 polygons = pair.first;
285 roisPt = pair.second;
291 keypoints.buildReference(I, trainKeyPoints, points3f,
true, 2);
299 cMo.
buildFrom(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025);
303 keypoints.detect(I, trainKeyPoints, elapsedTime);
307 polygons = pair.first;
308 roisPt = pair.second;
314 keypoints.buildReference(I, trainKeyPoints, points3f,
true, 3);
323 #if defined VISP_HAVE_X11 325 #elif defined VISP_HAVE_GTK 327 #elif defined VISP_HAVE_GDI 335 keypoints.createImageMatching(I, IMatching);
342 bool opt_click =
false;
345 while((opt_display && !g.
end()) || (!opt_display && g.
getFrameIndex() < 30)) {
352 keypoints.insertImageMatching(I, IMatching);
358 if(keypoints.matchPoint(I, cam, cMo, error, elapsedTime)) {
366 std::vector<vpImagePoint> ransacInliers = keypoints.getRansacInliers();
367 std::vector<vpImagePoint> ransacOutliers = keypoints.getRansacOutliers();
369 for(std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
372 imPt.set_u(imPt.get_u() + I.
getWidth());
373 imPt.set_v(imPt.get_v() + I.
getHeight());
377 for(std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
380 imPt.set_u(imPt.get_u() + I.
getWidth());
381 imPt.set_v(imPt.get_v() + I.
getHeight());
385 keypoints.displayMatching(I, IMatching);
392 tracker.
setPose(IMatching, cMo);
403 if (opt_click_allowed && opt_display) {
425 std::cerr << e.
what() << std::endl;
429 std::cout <<
"testKeyPoint-2 is ok !" << std::endl;
434 std::cerr <<
"You need OpenCV library." << std::endl;
virtual unsigned int getClipping() const
void setMovingEdge(const vpMe &me)
virtual void getPose(vpHomogeneousMatrix &cMo_) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setAngleDisappear(const double &a)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMaskNumber(const unsigned int &a)
virtual void setDownScalingFactor(unsigned int scale)
Display for windows using GDI (available on any windows 32 platform).
void setSampleStep(const double &s)
void setNbTotalSample(const int &nb)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static const vpColor none
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
Make the complete tracking of an object by using its CAD model.
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void setCameraParameters(const vpCameraParameters &camera)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
void loadConfigFile(const std::string &configFile)
static const vpColor green
static void flush(const vpImage< unsigned char > &I)
void setMu1(const double &mu_1)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
virtual void setNearClippingDistance(const double &dist)
void open(vpImage< vpRGBa > &I)
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)
void setMaskSize(const unsigned int &a)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void acquire(vpImage< vpRGBa > &I)
virtual void setFarClippingDistance(const double &dist)
void setFileName(const char *filename)
virtual void setAngleAppear(const double &a)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
const char * what() const
static double rad(double deg)
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
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, vpImagePoint offset=vpImagePoint(0, 0))
void setMu2(const double &mu_2)
long getFrameIndex() const
virtual void loadModel(const char *modelFile, const bool verbose=false)
unsigned int getHeight() const
virtual void getCameraParameters(vpCameraParameters &camera) const
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...
unsigned int getDownScalingFactor()
void setThreshold(const double &t)
void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void setRange(const unsigned int &r)
virtual void setClipping(const unsigned int &flags)
unsigned int getWidth() const
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)