testKeyPoint-6.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 descriptor computation.
 */

 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) && \
  (((VISP_HAVE_OPENCV_VERSION < 0x050000)  && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
   ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES)))
 
#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/vision/vpKeyPoint.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);
std::string getOpenCVType(int type);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Test keypoint descriptor extraction.\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;
}

std::string getOpenCVType(int type)
{
  std::string type_string = "";
 
  switch (type) {
  case CV_8U:
    type_string = "CV_8U";
    break;
 
  case CV_8S:
    type_string = "CV_8S";
    break;
 
  case CV_16U:
    type_string = "CV_16U";
    break;
 
  case CV_16S:
    type_string = "CV_16S";
    break;
 
  case CV_32S:
    type_string = "CV_32S";
    break;
 
  case CV_32F:
    type_string = "CV_32F";
    break;
 
  case CV_64F:
    type_string = "CV_64F";
    break;
 
  default:
    type_string = "Problem with type !";
    break;
  }
 
  return type_string;
}
 
template <typename Type>
void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_display, vpImage<Type> &Iinput,
              vpImage<Type> &I)
{
  // Set the path location of the image sequence
  std::string dirname = vpIoTools::createFilePath(env_ipath, "Klimt");
 
  // Build the name of the image files
  std::string filename = vpIoTools::createFilePath(dirname, "/Klimt.png");
  vpImageIo::read(Iinput, filename);
  Iinput.quarterSizeImage(I);
 
  vpDisplay *display = nullptr;
 
  if (opt_display) {
#ifdef VISP_HAVE_DISPLAY
    display = vpDisplayFactory::allocateDisplay(I, 0, 0, "KeyPoints detection.");
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
  }
 
  vpKeyPoint keyPoints;
 
  std::vector<std::string> descriptorNames;
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES)))
  descriptorNames.push_back("SIFT");
#endif
#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_XFEATURES2D)
  descriptorNames.push_back("SURF");
#endif
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES)))
  descriptorNames.push_back("ORB");
#endif
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)))
  descriptorNames.push_back("BRISK");
#endif
#if defined(HAVE_OPENCV_XFEATURES2D)
  descriptorNames.push_back("BRIEF");
  descriptorNames.push_back("FREAK");
  descriptorNames.push_back("DAISY");
  descriptorNames.push_back("LATCH");
#endif
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(HAVE_OPENCV_XFEATURES2D)
  descriptorNames.push_back("VGG");
  descriptorNames.push_back("BoostDesc");
#endif
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XFEATURES2D)))
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
  descriptorNames.push_back("KAZE");
  descriptorNames.push_back("AKAZE");
#endif
#endif
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES)))
  std::string detectorName = "FAST";
#endif
  keyPoints.setDetector(detectorName);
  std::vector<cv::KeyPoint> kpts;
 
  keyPoints.detect(I, kpts);
  std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
  if (kpts.empty()) {
    std::stringstream ss;
    ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
    throw(vpException(vpException::fatalError, ss.str()));
  }
 
  for (std::vector<std::string>::const_iterator itd = descriptorNames.begin(); itd != descriptorNames.end(); ++itd) {
    keyPoints.setExtractor(*itd);
 
    if (*itd == "KAZE") {
      detectorName = "KAZE";
      keyPoints.setDetector(detectorName);
      keyPoints.detect(I, kpts);
      std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
      if (kpts.empty()) {
        std::stringstream ss;
        ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
        throw(vpException(vpException::fatalError, ss.str()));
      }
    }
    else if (*itd == "AKAZE") {
      detectorName = "AKAZE";
      keyPoints.setDetector(detectorName);
      keyPoints.detect(I, kpts);
      std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
      if (kpts.empty()) {
        std::stringstream ss;
        ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
        throw(vpException(vpException::fatalError, ss.str()));
      }
    }
    else if (*itd == "BoostDesc") {
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(HAVE_OPENCV_XFEATURES2D)
      cv::Ptr<cv::Feature2D> boostDesc = keyPoints.getExtractor("BoostDesc");
      // Init BIN BOOST descriptor for FAST keypoints
      boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256, true, 5.0f);
#endif
    }
 
    double t = vpTime::measureTimeMs();
    cv::Mat descriptor;
    keyPoints.extract(I, kpts, descriptor);
    t = vpTime::measureTimeMs() - t;
 
    std::cout << "Descriptor: " << descriptor.rows << "x" << descriptor.cols
      << " (rows x cols) ; type=" << getOpenCVType(descriptor.type()) << " for " << *itd << " method in " << t
      << " ms." << std::endl;
    if (descriptor.empty()) {
      std::stringstream ss;
      ss << "No descriptor extracted with " << *itd << " and image:" << filename << "." << std::endl;
      throw(vpException(vpException::fatalError, ss.str()));
    }
 
    if (opt_display) {
      vpDisplay::display(I);
 
      for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
        vpImagePoint imPt;
        imPt.set_uv(static_cast<double>(it->pt.x), static_cast<double>(it->pt.y));
 
        vpDisplay::displayCross(I, imPt, 4, vpColor::red);
      }
 
      vpDisplay::flush(I);
 
      if (opt_click_allowed) {
        vpDisplay::getClick(I);
      }
    }
  }
 
  std::cout << "\n\n";
 
  std::map<vpKeyPoint::vpFeatureDescriptorType, std::string> mapOfDescriptorNames = keyPoints.getExtractorNames();
 
  for (int i = 0; i < vpKeyPoint::DESCRIPTOR_TYPE_SIZE; i++) {
    keyPoints.setExtractor((vpKeyPoint::vpFeatureDescriptorType)i);
 
    if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "KAZE") {
      detectorName = "KAZE";
      keyPoints.setDetector(detectorName);
      keyPoints.detect(I, kpts);
      std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
      if (kpts.empty()) {
        std::stringstream ss;
        ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
        throw(vpException(vpException::fatalError, ss.str()));
      }
    }
    else if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "AKAZE") {
      detectorName = "AKAZE";
      keyPoints.setDetector(detectorName);
      keyPoints.detect(I, kpts);
      std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
      if (kpts.empty()) {
        std::stringstream ss;
        ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
        throw(vpException(vpException::fatalError, ss.str()));
      }
    }
    else if (mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] == "BoostDesc") {
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030200) && defined(HAVE_OPENCV_XFEATURES2D)
      detectorName = "FAST";
      keyPoints.setDetector(detectorName);
      keyPoints.detect(I, kpts);
      std::cout << "Nb keypoints detected: " << kpts.size() << " for " << detectorName << " method." << std::endl;
      if (kpts.empty()) {
        std::stringstream ss;
        ss << "No keypoints detected with " << detectorName << " and image:" << filename << "." << std::endl;
        throw(vpException(vpException::fatalError, ss.str()));
      }
 
      cv::Ptr<cv::Feature2D> boostDesc = keyPoints.getExtractor("BoostDesc");
      // Init BIN BOOST descriptor for FAST keypoints
      boostDesc = cv::xfeatures2d::BoostDesc::create(cv::xfeatures2d::BoostDesc::BINBOOST_256, true, 5.0f);
#endif
    }
 
    double t = vpTime::measureTimeMs();
    cv::Mat descriptor;
    keyPoints.extract(I, kpts, descriptor);
    t = vpTime::measureTimeMs() - t;
 
    std::cout << "Descriptor: " << descriptor.rows << "x" << descriptor.cols
      << " (rows x cols) ; type=" << getOpenCVType(descriptor.type()) << " for "
      << mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i] << " method in " << t << " ms."
      << std::endl;
    if (descriptor.empty()) {
      std::stringstream ss;
      ss << "No descriptor extracted with " << mapOfDescriptorNames[(vpKeyPoint::vpFeatureDescriptorType)i]
        << " and image:" << filename << "." << std::endl;
      throw(vpException(vpException::fatalError, ss.str()));
    }
 
    if (opt_display) {
      vpDisplay::display(I);
 
      for (std::vector<cv::KeyPoint>::const_iterator it = kpts.begin(); it != kpts.end(); ++it) {
        vpImagePoint imPt;
        imPt.set_uv(static_cast<double>(it->pt.x), static_cast<double>(it->pt.y));
 
        vpDisplay::displayCross(I, imPt, 4, vpColor::red);
      }
 
      vpDisplay::flush(I);
 
      if (opt_click_allowed) {
        vpDisplay::getClick(I);
      }
    }
  }
  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) {
      exit(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> Iinput, I;
 
      std::cout << "-- Test on gray level images" << std::endl;
      run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
    }
 
    {
      vpImage<vpRGBa> Iinput, I;
 
      std::cout << "-- Test on color images" << std::endl;
      run_test(env_ipath, opt_click_allowed, opt_display, Iinput, I);
    }
 
  }
  catch (const vpException &e) {
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
  }
 
  std::cout << "testKeyPoint-6 is ok !" << std::endl;
  return EXIT_SUCCESS;
}
#else
#include <cstdlib>
 
int main()
{
  std::cerr << "You need OpenCV library." << std::endl;
 
  return EXIT_SUCCESS;
}
 
#endif