planarObjectDetector.cpp

Tracking of planar surface using Fern classifier.

/****************************************************************************
 *
 * $Id: planarObjectDetector.cpp 4323 2013-07-18 09:24:01Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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 <visp/vpConfig.h>
#include <visp/vpDebug.h>

#if ((defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && (VISP_HAVE_OPENCV_VERSION >= 0x020000))

#include <iostream>
#include <stdlib.h>
#include <visp/vpPlanarObjectDetector.h>
#include <visp/vpParseArgv.h>
#include <visp/vpConfig.h>
#include <visp/vpOpenCVGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpHomography.h>
#include <visp/vpImageIo.h>
#include <visp/vpIoTools.h>
#include <visp/vpTime.h>
#include <iomanip>
#include <visp/vpV4l2Grabber.h>
#include <visp/vp1394TwoGrabber.h>

#define GETOPTARGS  "hlcdb:i:sp"

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 \"ViSP-images/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, bool& useSequence, 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 's': useSequence = false; 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)
{
  bool isLearning = false;
  std::string dataFile("./dataPlanar");
  bool opt_click_allowed = true;
  bool opt_display = true;
  std::string objectName("object");
  bool displayPoints = false;
  bool useSequence = true;
  std::string opt_ipath;
  std::string ipath;
  std::string env_ipath;
  std::string dirname;
  std::string filename;


  // Get the VISP_IMAGE_PATH environment variable value
  char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
  if (ptenv != NULL){
    env_ipath = ptenv;
  }

  // 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, useSequence, opt_ipath) == false) {
    exit (-1);
  }

  // Get the option values
  if (useSequence && !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 (useSequence && !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 (useSequence && 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)
  vpImage <unsigned char> I;
  vpImage <unsigned char> Iref;


  // Set the path location of the image sequence
  dirname = ipath +  vpIoTools::path("/ViSP-images/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 = 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{
    if(useSequence){
      vpCTRACE << "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);
  }

  
  // Declare a framegrabber
  vpOpenCVGrabber g;
  if(!useSequence){
    try{
      g.open(I);
    }
    catch(...){
      std::cout << "problem to initialise the framegrabber" << std::endl;
      exit(-1);
    }
    
    
    g.acquire(I);
    // initialise the reference image
    g.acquire(Iref);
  }

#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
  vpPlanarObjectDetector planar;

  vpImagePoint corners[2];
  if(isLearning){  
    if(opt_display){
      displayRef.init(Iref, 100, 100, "Reference image") ;
      vpDisplay::display(Iref);
      vpDisplay::flush(Iref);
    }
    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);
      vpDisplay::flush(Iref);
    }

    if (opt_click_allowed){
      std::cout << "Click on the image to continue" << std::endl;
      vpDisplay::getClick(Iref);
    }  

    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) {
      vpDisplay::display(Iref);
      vpDisplay::flush(Iref);
    }
    double t0 = vpTime::measureTimeMs (); 
    planar.buildReference(Iref, roi); 
    std::cout << "build reference in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
    t0 = vpTime::measureTimeMs (); 
    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") ;
    vpDisplay::display(I);
    vpDisplay::flush(I);
  }

  if (opt_display && opt_click_allowed){
    std::cout << "Click on the reference image to continue" << std::endl;
    vpDisplay::displayCharString (Iref, vpImagePoint(15,15), 
                                  (char*)"Click on the reference image to continue", vpColor::red);
    vpDisplay::flush(Iref);
    vpDisplay::getClick(Iref);
  }  
  
  for ( ; ; ) {
    // acquire a new image
    if(useSequence){
      iter++;
      if(iter >= 80){
        break;
      }      
      s.str("");
      s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
      filename = dirname + s.str();
      // read the image
      vpImageIo::read(I, filename);
    }
    else{
      g.acquire(I);
    }
    
    if(opt_display){
      vpDisplay::display(I);
    }
    
    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){
      vpHomography H;
      planar.getHomography(H);    
      std::cout << " > computed homography:" << std::endl << H << std::endl;
      if(opt_display){
        if(isLearning){
          vpDisplay::display(Iref);
          vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
          planar.display(Iref, I, displayPoints);
          vpDisplay::flush(Iref);
        }else{
          planar.display(I, displayPoints);
        }
      }
    }
    else{
      std::cout << " > reference is not detected in the image" << std::endl;
    }
    if(opt_display){
      vpDisplay::flush(I);
      if(vpDisplay::getClick(I, false)){
        break;
      }
    }
  }
  
  return 0;
}

#else
int
main()
{
#if ( ! (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) ) 
  vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
#else
  vpERROR_TRACE("You do not have OpenCV-2.0.0 or a more recent release...");
#endif
}

#endif