test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/maps/CLandmarksMap.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/vision/CFeatureExtraction.h>
#include <iostream>

using mrpt::format;
using namespace mrpt::gui;
using namespace mrpt::vision;
using namespace mrpt::img;
using namespace mrpt::opengl;
using namespace mrpt::system;
using namespace std;

#include <mrpt/examples_config.h>
string myDataDir(
    MRPT_EXAMPLES_BASE_DIRECTORY +
    string("vision_keypoint_matching_example/imgs/"));

// ------------------------------------------------------
//  TestExtractMatchProjectAndPaint
// ------------------------------------------------------
void TestExtractMatchProjectAndPaint()
{
    CFeatureExtraction fExt;
    CFeatureList featsHarris_L, featsHarris_R;
    CMatchedFeatureList mHarris, mSIFT, mSURF;
    CImage imL, imR;

    string imgL = myDataDir + string("imL_p01.jpg");  // Left image
    string imgR = myDataDir + string("imR_p01.jpg");  // Right image

    // Load and check images
    if (!imL.loadFromFile(imgL))
    {
        cerr << "Cannot load " << imgL << endl;
        return;
    }
    cout << "Loaded test image: " << imgL << endl;

    if (!imR.loadFromFile(imgR))
    {
        cerr << "Cannot load " << imgR << endl;
        return;
    }
    cout << "Loaded test image: " << imgR << endl;

    cout << "***************************************************" << endl;
    cout << "***************************************************" << endl;

    // Extract features:
    // HARRIS
    cout << "Detecting HARRIS features in LEFT image" << endl;
    fExt.options.featsType = featKLT;
    fExt.detectFeatures(imL, featsHarris_L);
    cout << "Detected " << featsHarris_L.size() << endl;

    cout << "Detecting HARRIS features in RIGHT image" << endl;
    fExt.detectFeatures(imR, featsHarris_R);
    cout << "Detected " << featsHarris_R.size() << endl;

    cout << "***************************************************" << endl;
    cout << "***************************************************" << endl;

    // Match features:
    TMatchingOptions opt;
    cout << "Matching HARRIS features by CORRELATION" << endl;
    matchFeatures(featsHarris_L, featsHarris_R, mHarris);
    cout << "Matches found: " << mHarris.size() << endl;

    cout << "***************************************************" << endl;

    // Project features:
    mrpt::maps::CLandmarksMap outMap;
    TStereoSystemParams stereoOptions;  // Default options: Bumblebee + 640x480
    cout << "Projecting matched features" << endl;
    mrpt::vision::projectMatchedFeatures(mHarris, stereoOptions, outMap);

    CDisplayWindow3D win3D("3D Map");
    COpenGLScene::Ptr& scene3D = win3D.get3DSceneAndLock();
    CSetOfObjects::Ptr map3D = CSetOfObjects::Create();
    outMap.getAs3DObject(map3D);
    CGridPlaneXY::Ptr gridXY = CGridPlaneXY::Create(-10, 10, -10, 10, 0, 1);

    scene3D->insert(gridXY);
    scene3D->insert(map3D);

    win3D.unlockAccess3DScene();
    win3D.repaint();

    mrpt::system::pause();

}  // end TestExtractMatchProjectAndPaint

// ------------------------------------------------------
//      TestMatchFeatures
// ------------------------------------------------------
void TestMatchFeatures(bool showMatches)
{
    CFeatureExtraction fExt;
    CFeatureList featsHarris_L, featsHarris_R, featsSIFT_L, featsSIFT_R,
        featsSURF_L, featsSURF_R, featsFAST_L, featsFAST_R;
    CMatchedFeatureList mHarris, mSIFT, mSURF, mHarris_SAD, mFAST_CC, mFAST_SAD;
    CImage imL, imR;

    string imgL = myDataDir + string("imL_p01.jpg");  // Left image
    string imgR = myDataDir + string("imR_p01.jpg");  // Right image

    // Load and check images
    if (!imL.loadFromFile(imgL))
    {
        cerr << "Cannot load " << imgL << endl;
        return;
    }
    cout << "Loaded LEFT image: " << endl << imgL << endl;

    if (!imR.loadFromFile(imgR))
    {
        cerr << "Cannot load " << imgR << endl;
        return;
    }
    cout << "Loaded RIGHT image: " << endl << imgR << endl;

    cout << "***************************************************" << endl;
    cout << "***************************************************" << endl;

    // Extract features:
    // HARRIS
    cout << "Detecting HARRIS features in LEFT image" << endl;
    fExt.options.featsType = featHarris;
    fExt.detectFeatures(imL, featsHarris_L, 250);
    cout << "Detected " << featsHarris_L.size() << endl;

    cout << "Detecting HARRIS features in RIGHT image" << endl;
    fExt.detectFeatures(imR, featsHarris_R, 250);
    cout << "Detected " << featsHarris_R.size() << endl;
    cout << "***************************************************" << endl;

    // SIFT
    cout << "Detecting SIFT features in LEFT image" << endl;
    fExt.options.featsType = featSIFT;
    // fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess;
    fExt.options.SIFTOptions.implementation = CFeatureExtraction::OpenCV;
    fExt.detectFeatures(imL, featsSIFT_L);
    cout << "Detected " << featsSIFT_L.size() << endl;

    cout << "Detecting SIFT features in RIGHT image" << endl;
    fExt.options.featsType = featSIFT;
    // fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess;
    fExt.options.SIFTOptions.implementation = CFeatureExtraction::OpenCV;
    fExt.detectFeatures(imR, featsSIFT_R);
    cout << "Detected " << featsSIFT_R.size() << endl;
    cout << "***************************************************" << endl;

    // SURF
    cout << "Detecting SURF features in LEFT image" << endl;
    fExt.options.featsType = featSURF;
    fExt.detectFeatures(imL, featsSURF_L);
    cout << "Detected " << featsSURF_L.size() << endl;

    cout << "Detecting SURF features in RIGHT image" << endl;
    fExt.detectFeatures(imR, featsSURF_R);
    cout << "Detected " << featsSURF_R.size() << endl;
    cout << "***************************************************" << endl;

    // FAST
    cout << "Detecting FAST features in LEFT image" << endl;
    fExt.options.featsType = featFAST;
    fExt.detectFeatures(imL, featsFAST_L, 0, 250);
    cout << "Detected " << featsFAST_L.size() << endl;

    cout << "Detecting FAST features in RIGHT image" << endl;
    fExt.detectFeatures(imR, featsFAST_R, 0, 250);
    cout << "Detected " << featsFAST_R.size() << endl;
    cout << "***************************************************" << endl;
    cout << "***************************************************" << endl;

    // Match features:
    TMatchingOptions opt;

    //  // HARRIS
    CTicTac tictac;
    double T = 0.0;
    cout << "Matching HARRIS features" << endl;
    tictac.Tic();
    matchFeatures(featsHarris_L, featsHarris_R, mHarris);
    T = tictac.Tac();
    cout << "[NCC] Matches found: " << mHarris.size() << " in " << T * 1000.0f
         << " ms " << endl;

    opt.matching_method = TMatchingOptions::mmSAD;
    tictac.Tic();
    matchFeatures(featsHarris_L, featsHarris_R, mHarris_SAD, opt);
    T = tictac.Tac();
    cout << "[SAD] Matches found: " << mHarris_SAD.size() << " in "
         << T * 1000.0f << " ms " << endl;
    cout << "***************************************************" << endl;

    // SIFT
    cout << "Matching SIFT features by DESCRIPTOR" << endl;
    opt.matching_method = TMatchingOptions::mmDescriptorSIFT;
    tictac.Tic();
    matchFeatures(featsSIFT_L, featsSIFT_R, mSIFT, opt);
    T = tictac.Tac();
    cout << "Matches found: " << mSIFT.size() << " in " << T * 1000.0f << " ms "
         << endl;
    cout << "***************************************************" << endl;

    // SURF
    cout << "Matching SURF features by DESCRIPTOR" << endl;
    opt.matching_method = TMatchingOptions::mmDescriptorSURF;
    tictac.Tic();
    matchFeatures(featsSURF_L, featsSURF_R, mSURF, opt);
    T = tictac.Tac();
    cout << "Matches found: " << mSURF.size() << " in " << T * 1000.0f << " ms "
         << endl;
    cout << "***************************************************" << endl;

    // FAST
    cout << "Matching FAST features" << endl;
    tictac.Tic();
    matchFeatures(featsFAST_L, featsFAST_R, mFAST_CC);
    T = tictac.Tac();
    cout << "[NCC] Matches found: " << mFAST_CC.size() << " in " << T * 1000.0f
         << " ms " << endl;

    opt.matching_method = TMatchingOptions::mmSAD;
    tictac.Tic();
    matchFeatures(featsFAST_L, featsFAST_R, mFAST_SAD, opt);
    T = tictac.Tac();
    cout << "[SAD] Matches found: " << mFAST_SAD.size() << " in " << T * 1000.0f
         << " ms " << endl;
    cout << "***************************************************" << endl;

    if (showMatches)
    {
        CDisplayWindow winHarrisSAD, winHarrisNCC, winFASTSAD, winFASTNCC,
            winSIFT, winSURF;

        winHarrisSAD.setWindowTitle("Matches with Harris + SAD");
        winHarrisNCC.setWindowTitle("Matches with Harris + NCC");
        winFASTSAD.setWindowTitle("Matches with FAST + SAD");
        winFASTNCC.setWindowTitle("Matches with FAST + NCC");
        winSIFT.setWindowTitle("Matches with SIFT");
        winSURF.setWindowTitle("Matches with SURF");

        winHarrisNCC.showImagesAndMatchedPoints(
            imL, imR, mHarris, TColor(0, 0, 255));
        winHarrisSAD.showImagesAndMatchedPoints(
            imL, imR, mHarris_SAD, TColor(0, 0, 255));
        winSIFT.showImagesAndMatchedPoints(imL, imR, mSIFT, TColor(0, 255, 0));
        winSURF.showImagesAndMatchedPoints(imL, imR, mSURF, TColor(0, 255, 0));
        winFASTSAD.showImagesAndMatchedPoints(
            imL, imR, mFAST_SAD, TColor(0, 255, 0));
        winFASTNCC.showImagesAndMatchedPoints(
            imL, imR, mFAST_CC, TColor(0, 255, 0));

        mrpt::system::pause();
    }

}  // end TestMatchFeatures

// ------------------------------------------------------
//      TestMatchingComparative
// ------------------------------------------------------
void TestMatchingComparative()
{
    // Take two images
    string imgL = myDataDir + string("imL_p01.jpg");  // Left image
    string imgR = myDataDir + string("imR_p01.jpg");  // Right image

    CImage im1, im2;
    im1.loadFromFile(imgL);
    im2.loadFromFile(imgR);

    size_t imW = im1.getWidth();
    size_t imH = im1.getHeight();

    CFeatureExtraction fExt;
    fExt.options.featsType = featFAST;
    fExt.options.patchSize = 21;
    fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess;

    // Find FAST features
    CFeatureList list1, list2;
    fExt.detectFeatures(im1, list1, 150);
    // Compute SIFT & SURF descriptors
    fExt.computeDescriptors(im1, list1, descSIFT);
    fExt.computeDescriptors(im1, list1, descSURF);

    fExt.detectFeatures(im2, list2, 150);
    // Compute SIFT & SURF descriptors
    fExt.computeDescriptors(im2, list2, descSIFT);
    fExt.computeDescriptors(im2, list2, descSURF);

    im1.drawFeatures(list1);
    im2.drawFeatures(list2);

    CDisplayWindow win, win2;
    win.setPos(0, 0);
    win2.setPos(0, imH * 1.5);
    CImage joinimage, copyjoinimage, copyInfoImage;
    size_t imW2 = 1280;
    size_t imH2 = 150;

    CImage infoimage(imW2, imH2, CH_RGB);

    joinimage.joinImagesHorz(im1, im2);
    infoimage.filledRectangle(0, 0, imW2, imH2, TColor(150, 150, 150));
    infoimage.textOut(20, imH2 - 53, "SAD", TColor::blue());
    infoimage.textOut(20, imH2 - 41, "NCC", TColor::blue());
    infoimage.textOut(20, imH2 - 29, "SIFT", TColor::blue());
    infoimage.textOut(20, imH2 - 17, "SURF", TColor::blue());
    for (auto it1 = list1.begin(); it1 != list1.end(); ++it1)
    {
        const auto& pt1 = it1->keypoint.pt;

        copyInfoImage = infoimage;
        copyjoinimage = joinimage;
        copyjoinimage.line(pt1.x, 0, pt1.x, imH, TColor::green());  // Horiz
        copyjoinimage.line(
            pt1.x + imW, 0, pt1.x + imW, imH,
            TColor::green());  // Horiz
        copyjoinimage.line(
            0, pt1.y, imW + imW, pt1.y, TColor::green());  // Epipolar
        copyjoinimage.drawCircle(
            pt1.x, pt1.y, 4, TColor::green(), 2);  // Keypoint

        copyInfoImage.update_patch(*it1->patch, 0, 0);
        bool firstMatch = true;
        int cnt = 0;
        int px = 80;
        double minsad = 1.0, maxncc = 0.0;
        float minsiftd = 1.0f, minsurfd = 1.0f;
        int idxsad = 0, idxncc = 0, idxsiftd = 0, idxsurfd = 0;

        for (auto it2 = list2.begin(); it2 != list2.end(); ++it2)
        {
            const auto& pt2 = it2->keypoint.pt;

            if (fabs(pt1.y - pt2.y) <= 1.0 && pt1.x > pt2.x)
            {
                // Compute matching with SAD and Correlation and SIFT/SURF?
                // Use epipolar constraints
                // Compute SAD
                double sad = mrpt::vision::computeSAD(*it1->patch, *it2->patch);
                if (sad < minsad)
                {
                    minsad = sad;
                    idxsad = cnt;
                }
                // Compute Correlation
                double ncc;
                size_t u, v;
                mrpt::vision::openCV_cross_correlation(
                    *it1->patch, *it2->patch, u, v, ncc);
                if (ncc > maxncc)
                {
                    maxncc = ncc;
                    idxncc = cnt;
                }

                // Compute distance between descriptors SIFT
                float siftd = it1->descriptorSIFTDistanceTo(*it2);
                if (siftd < minsiftd)
                {
                    minsiftd = siftd;
                    idxsiftd = cnt;
                }

                // Compute distance between descriptors SIFT
                float surfd = it1->descriptorSURFDistanceTo(*it2);
                if (surfd < minsurfd)
                {
                    minsurfd = surfd;
                    idxsurfd = cnt;
                }

                // Plot images + features + each candidate + difference score
                if (firstMatch)
                {
                    copyjoinimage.line(
                        pt1.x + imW, 0, pt1.x + imW, imH,
                        TColor::green());  // Limit line (only the first time)
                    firstMatch = false;
                }  // end-if

                copyjoinimage.drawCircle(
                    pt2.x + imW, pt2.y, 4, TColor::blue(),
                    2);  // Keypoint
                double rx0, rx1, ry0, ry1, tx, ty;
                rx0 = pt2.x + imW - 15;
                rx1 = pt2.x + imW;
                tx = pt2.x + imW - 13;
                if (cnt % 2)
                {
                    ry0 = pt2.y - 20;
                    ry1 = pt2.y - 10;
                    ty = pt2.y - 22;
                }
                else
                {
                    ry0 = pt2.y + 10;
                    ry1 = pt2.y + 20;
                    ty = pt2.y + 8;
                }
                copyjoinimage.filledRectangle(
                    rx0, ry0, rx1, ry1, TColor(150, 150, 150));
                copyjoinimage.textOut(
                    tx, ty, format("%d", cnt), TColor::blue());

                px = 80 + cnt * 50;
                if (px + fExt.options.patchSize > imW2) continue;

                copyInfoImage.update_patch(*it2->patch, px, 30);

                copyInfoImage.textOut(
                    px, imH2 - 70, format("%d", cnt), TColor::blue());
                copyInfoImage.textOut(
                    px, imH2 - 53, format("%.2f", sad), TColor::blue());
                copyInfoImage.textOut(
                    px, imH2 - 41, format("%.2f", ncc), TColor::blue());
                copyInfoImage.textOut(
                    px, imH2 - 29, format("%.2f", siftd), TColor::blue());
                copyInfoImage.textOut(
                    px, imH2 - 17, format("%.2f", surfd), TColor::blue());

                cnt++;
            }  // end if
        }  // end for it2
        copyInfoImage.textOut(
            80 + idxsad * 50, imH2 - 53, format("%.2f", minsad),
            TColor::green());
        copyInfoImage.textOut(
            80 + idxncc * 50, imH2 - 41, format("%.2f", maxncc),
            TColor::green());
        copyInfoImage.textOut(
            80 + idxsiftd * 50, imH2 - 29, format("%.2f", minsiftd),
            TColor::green());
        copyInfoImage.textOut(
            80 + idxsurfd * 50, imH2 - 17, format("%.2f", minsurfd),
            TColor::green());

        win.showImage(copyjoinimage);
        win2.showImage(copyInfoImage);
        mrpt::system::pause();
    }  // end for it1

    // Save to file
    // Check number of good features

}  // end TestMatchingComparative

int main(int argc, char** argv)
{
    try
    {
        if (argc == 1)
        {
            cerr << "Usage: " << argv[0] << endl;
            cerr << "Options:" << endl;
            cerr << " -match [-s]: TestMatchFeatures (if -s is set, final "
                    "matches in images will be shown)."
                 << endl;
            cerr << " -comp: TestMatchingComparative." << endl;
            cerr << " -proj: TestExtractMatchProjectAndPaint." << endl;
        }
        else
        {
            if (!strcmp(argv[1], "-match"))
            {
                if (argc == 3 && !strcmp(argv[2], "-s"))
                    TestMatchFeatures(true);
                else
                    TestMatchFeatures(false);
            }
            else if (!strcmp(argv[1], "-proj"))
                TestExtractMatchProjectAndPaint();
            else if (!strcmp(argv[1], "-comp"))
            {
                cout << "Press ^C to finish program." << endl;
                TestMatchingComparative();
            }
            else
            {
                cerr << "Usage: " << argv[0] << endl;
                cerr << "Options:" << endl;
                cerr << " -match [-s]: TestMatchFeatures (if -s is set, final "
                        "matches in images will be shown)."
                     << endl;
                cerr << " -comp: TestMatchingComparative." << endl;
                cerr << " -proj: TestExtractMatchProjectAndPaint." << endl;
            }
        }
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}