Visual Servoing Platform version 3.6.0
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testKeyPoint-3.cpp

Test keypoint matching with mostly OpenCV functions calls to detect potential memory leaks in testKeyPoint.cpp.

Test keypoint matching with mostly OpenCV functions calls to detect potential memory leaks in testKeyPoint.cpp.

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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)
#include <opencv2/features2d/features2d.hpp>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.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"
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], NULL);
return false;
break;
default:
usage(argv[0], optarg_);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
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 VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#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 (VISP_HAVE_OPENCV_VERSION >= 0x030000)
detector = cv::ORB::create();
extractor = cv::ORB::create();
#else
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);
g.setFileName(filenameCur);
g.open(Icur);
g.acquire(Icur);
Imatch.resize(Icur.getHeight(), 2 * Icur.getWidth());
Imatch.insert(Iref, vpImagePoint(0, 0));
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#endif
if (opt_display) {
display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
display.init(Imatch, 0, 0, "ORB keypoints matching");
}
bool opt_click = false;
while (!g.end()) {
g.acquire(Icur);
Imatch.insert(Icur, vpImagePoint(0, Icur.getWidth()));
if (opt_display) {
}
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[(size_t)it->trainIdx].pt.y, trainKeyPoints[(size_t)it->trainIdx].pt.x);
vpImagePoint rightPt(queryKeyPoints[(size_t)it->queryIdx].pt.y,
queryKeyPoints[(size_t)it->queryIdx].pt.x + Iref.getWidth());
vpDisplay::displayLine(Imatch, leftPt, rightPt, vpColor::green);
}
}
// 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;
}
}
}
}
}
}
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
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
static const vpColor green
Definition vpColor.h:214
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...
Definition vpDisplayX.h:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
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 ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition vpImage.h:795
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition vpImage.h:1361
unsigned int getHeight() const
Definition vpImage.h:184
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)