41 #include <visp3/core/vpConfig.h> 43 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020301) 45 #include <visp3/core/vpImage.h> 46 #include <visp3/core/vpIoTools.h> 47 #include <visp3/gui/vpDisplayGDI.h> 48 #include <visp3/gui/vpDisplayGTK.h> 49 #include <visp3/gui/vpDisplayOpenCV.h> 50 #include <visp3/gui/vpDisplayX.h> 51 #include <visp3/io/vpImageIo.h> 52 #include <visp3/io/vpParseArgv.h> 53 #include <visp3/io/vpVideoReader.h> 54 #include <visp3/mbt/vpMbEdgeTracker.h> 55 #include <visp3/vision/vpKeyPoint.h> 58 #define GETOPTARGS "cdph" 60 void usage(
const char *name,
const char *badparam);
61 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
71 void usage(
const char *name,
const char *badparam)
74 Test keypoints matching.\n\ 77 %s [-c] [-d] [-p] [-h]\n", name);
83 Disable the mouse click. Useful to automaze the \n\ 84 execution of this program without humain intervention.\n\ 87 Turn off the display.\n\ 90 Use parallel RANSAC.\n\ 96 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
110 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display,
111 bool &use_parallel_ransac)
119 click_allowed =
false;
125 use_parallel_ransac =
true;
128 usage(argv[0], NULL);
133 usage(argv[0], optarg_);
139 if ((c == 1) || (c == -1)) {
141 usage(argv[0], NULL);
142 std::cerr <<
"ERROR: " << std::endl;
143 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
155 int main(
int argc,
const char **argv)
158 std::string env_ipath;
159 bool opt_click_allowed =
true;
160 bool opt_display =
true;
161 bool use_parallel_ransac =
false;
164 if (getOptions(argc, argv, opt_click_allowed, opt_display, use_parallel_ransac) ==
false) {
172 if (env_ipath.empty()) {
173 std::cerr <<
"Please set the VISP_INPUT_IMAGE_PATH environment " 189 #if defined VISP_HAVE_X11 191 #elif defined VISP_HAVE_GTK 193 #elif defined VISP_HAVE_GDI 201 display.
init(I, 0, 0,
"ORB keypoints matching and pose estimation");
209 #ifdef VISP_HAVE_XML2 239 if (opt_display && opt_click_allowed) {
242 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
251 vpKeyPoint keypoints(
"ORB",
"ORB",
"BruteForce-Hamming");
252 keypoints.setRansacParallel(use_parallel_ransac);
253 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400) 256 keypoints.setMatcher(
"FlannBased");
257 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) 258 keypoints.setDetectorParameter(
"ORB",
"nLevels", 1);
260 cv::Ptr<cv::ORB> orb_detector = keypoints.getDetector(
"ORB").dynamicCast<cv::ORB>();
262 orb_detector->setNLevels(1);
268 std::vector<cv::KeyPoint> trainKeyPoints;
270 keypoints.detect(I, trainKeyPoints, elapsedTime);
273 std::vector<vpPolygon> polygons;
274 std::vector<std::vector<vpPoint> > roisPt;
275 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair =
277 polygons = pair.first;
278 roisPt = pair.second;
281 std::vector<cv::Point3f> points3f;
285 keypoints.buildReference(I, trainKeyPoints, points3f,
false, 1);
292 cMo.
buildFrom(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828);
296 keypoints.detect(I, trainKeyPoints, elapsedTime);
301 polygons = pair.first;
302 roisPt = pair.second;
308 keypoints.buildReference(I, trainKeyPoints, points3f,
true, 2);
315 cMo.
buildFrom(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025);
319 keypoints.detect(I, trainKeyPoints, elapsedTime);
323 polygons = pair.first;
324 roisPt = pair.second;
330 keypoints.buildReference(I, trainKeyPoints, points3f,
true, 3);
338 #if defined VISP_HAVE_X11 340 #elif defined VISP_HAVE_GTK 342 #elif defined VISP_HAVE_GDI 350 keypoints.createImageMatching(I, IMatching);
357 bool opt_click =
false;
360 std::vector<double> times_vec;
361 while ((opt_display && !g.
end()) || (!opt_display && g.
getFrameIndex() < 30)) {
368 keypoints.insertImageMatching(I, IMatching);
374 if (keypoints.matchPoint(I, cam, cMo, error, elapsedTime)) {
375 times_vec.push_back(elapsedTime);
384 std::vector<vpImagePoint> ransacInliers = keypoints.getRansacInliers();
385 std::vector<vpImagePoint> ransacOutliers = keypoints.getRansacOutliers();
387 for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
390 imPt.set_u(imPt.get_u() + I.
getWidth());
391 imPt.set_v(imPt.get_v() + I.
getHeight());
395 for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end();
399 imPt.set_u(imPt.get_u() + I.
getWidth());
400 imPt.set_v(imPt.get_v() + I.
getHeight());
404 keypoints.displayMatching(I, IMatching);
411 tracker.
setPose(IMatching, cMo);
422 if (opt_click_allowed && opt_display) {
442 if (!times_vec.empty()) {
449 std::cerr << e.
what() << std::endl;
453 std::cout <<
"testKeyPoint-2 is ok !" << std::endl;
459 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)
static double getStdev(const std::vector< double > &v, const bool useBesselCorrection=false)
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)
static double getMedian(const std::vector< double > &v)
Display for windows using GDI (available on any windows 32 platform).
virtual void loadModel(const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
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)
static double getMean(const std::vector< double > &v)
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)
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)
void setMu2(const double &mu_2)
long getFrameIndex() const
unsigned int getHeight() const
virtual void getCameraParameters(vpCameraParameters &camera) const
static void read(vpImage< unsigned char > &I, const std::string &filename)
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, const vpImagePoint &offset=vpImagePoint(0, 0))
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)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
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)