Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
planarObjectDetector.cpp

Tracking of planar surface using Fern classifier.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 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 http://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:
* Detection of planar surface using Fern classifier.
*
* Authors:
* Romain Tallonneau
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if ((defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && \
(VISP_HAVE_OPENCV_VERSION >= 0x020000) && (VISP_HAVE_OPENCV_VERSION < 0x030000))
#include <iomanip>
#include <iostream>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/vision/vpHomography.h>
#include <visp3/vision/vpPlanarObjectDetector.h>
#define GETOPTARGS "hlcdb:i:p"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &isLearning, std::string &dataFile, bool &click_allowed,
bool &display, bool &displayPoints, std::string &ipath);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Test of detection of planar surface using a Fern classifier. The object needs \
first to be learned (-l option). This learning process will create a file used\
to detect the object.\n\
\n\
SYNOPSIS\n\
%s [-l] [-h] [-b] [-c] [-d] [-p] [-i] [-s]\n", name);
fprintf(stdout, "\n\
OPTIONS: \n\
-l\n\
learn an object.\n\
\n\
-i <input image path> \n\
Set image input path.\n\
From this path read \"line/image.%%04d.pgm\"\n\
images. \n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-b\n\
database filename to use (default is ./dataPlanar).\n\
\n\
-c\n\
Disable the mouse click. Useful to automaze the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-s \n\
Turn off the use of the sequence and use a webcam.\n\
\n\
-p \n\
display points of interest.\n\
\n\
-h\n\
Print this help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, bool &isLearning, std::string &dataFile, bool &click_allowed,
bool &display, bool &displayPoints, std::string &ipath)
{
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 'l':
isLearning = true;
break;
case 'h':
usage(argv[0], NULL);
return false;
break;
case 'b':
dataFile = optarg_;
break;
case 'p':
displayPoints = true;
break;
case 'i':
ipath = optarg_;
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;
}
int main(int argc, const char **argv)
{
try {
bool isLearning = false;
std::string dataFile("./dataPlanar");
bool opt_click_allowed = true;
bool opt_display = true;
std::string objectName("object");
bool displayPoints = false;
std::string opt_ipath;
std::string ipath;
std::string env_ipath;
std::string dirname;
std::string filename;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty()) {
ipath = env_ipath;
}
// Read the command line options
if (getOptions(argc, argv, isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, opt_ipath) ==
false) {
exit(-1);
}
// Get the option values
if (!opt_ipath.empty()) {
ipath = opt_ipath;
}
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
exit(-1);
}
// Declare two images, these are gray level images (unsigned char)
// Set the path location of the image sequence
dirname = vpIoTools::createFilePath(ipath, "cube");
// Build the name of the image file
unsigned iter = 0; // Image number
std::ostringstream s;
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
filename = vpIoTools::createFilePath(dirname, s.str());
// Read the PGM image named "filename" on the disk, and put the
// bitmap into the image structure I. I is initialized to the
// correct size
//
// exception readPGM may throw various exception if, for example,
// the file does not exist, or if the memory cannot be allocated
try {
std::cout << "Load: " << filename << std::endl;
vpImageIo::read(Iref, filename);
I = Iref;
} catch (...) {
// an exception is throwned if an exception from readPGM has been
// catched here this will result in the end of the program Note that
// another error message has been printed from readPGM to give more
// information about the error
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
exit(-1);
}
#if defined VISP_HAVE_X11
vpDisplayX display;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display;
#endif
#if defined VISP_HAVE_X11
vpDisplayX displayRef;
#elif defined VISP_HAVE_GTK
vpDisplayGTK displayRef;
#elif defined VISP_HAVE_GDI
vpDisplayGDI displayRef;
#endif
// declare a planar object detector
vpImagePoint corners[2];
if (isLearning) {
if (opt_display) {
displayRef.init(Iref, 100, 100, "Reference image");
}
if (opt_display && opt_click_allowed) {
std::cout << "Click on the top left and the bottom right corners to "
"define the reference plane"
<< std::endl;
for (int i = 0; i < 2; i++) {
vpDisplay::getClick(Iref, corners[i]);
std::cout << corners[i] << std::endl;
}
} else {
corners[0].set_ij(50, I.getWidth() - 100); // small ROI for the automated test
corners[1].set_ij(I.getHeight() - 100, I.getWidth() - 2);
}
if (opt_display) {
// Display the rectangle which defines the part of the image where the
// reference points are computed.
vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
}
if (opt_click_allowed) {
std::cout << "Click on the image to continue" << std::endl;
}
vpRect roi(corners[0], corners[1]);
std::cout << "> train the classifier on the selected plane (may take "
"up to several minutes)."
<< std::endl;
if (opt_display) {
}
double t0 = vpTime::measureTimeMs();
planar.buildReference(Iref, roi);
std::cout << "build reference in " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
planar.recordDetector(objectName, dataFile);
std::cout << "record detector in " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
} else {
if (!vpIoTools::checkFilename(dataFile)) {
vpERROR_TRACE("cannot load the database with the specified name. Has "
"the object been learned with the -l option? ");
exit(-1);
}
try {
// load a previously recorded file
planar.load(dataFile, objectName);
} catch (...) {
vpERROR_TRACE("cannot load the database with the specified name. Has "
"the object been learned with the -l option? ");
exit(-1);
}
}
if (opt_display) {
display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image");
}
if (opt_display && opt_click_allowed) {
std::cout << "Click on the reference image to continue" << std::endl;
vpDisplay::displayText(Iref, vpImagePoint(15, 15), "Click on the reference image to continue", vpColor::red);
}
for (;;) {
// acquire a new image
iter++;
if (iter >= 80) {
break;
}
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
filename = vpIoTools::createFilePath(dirname, s.str());
// read the image
vpImageIo::read(I, filename);
if (opt_display) {
}
double t0 = vpTime::measureTimeMs();
// detection of the reference planar surface
bool isDetected = planar.matchPoint(I);
std::cout << "matching in " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
if (isDetected) {
planar.getHomography(H);
std::cout << " > computed homography:" << std::endl << H << std::endl;
if (opt_display) {
if (isLearning) {
vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
planar.display(Iref, I, displayPoints);
} else {
planar.display(I, displayPoints);
}
}
} else {
std::cout << " > reference is not detected in the image" << std::endl;
}
if (opt_display) {
if (vpDisplay::getClick(I, false)) {
break;
}
}
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
#else
std::cout << "You do not have OpenCV functionalities" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif