Visual Servoing Platform  version 3.0.0
planarObjectDetector.cpp

Tracking of planar surface using Fern classifier.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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://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 <iostream>
#include <stdlib.h>
#include <visp3/vision/vpPlanarObjectDetector.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/vision/vpHomography.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpTime.h>
#include <iomanip>
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/sensor/vp1394TwoGrabber.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 \"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, 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, "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 = 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;
"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 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#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