Visual Servoing Platform version 3.5.0
planarObjectDetector.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Detection of planar surface using Fern classifier.
33 *
34 * Authors:
35 * Romain Tallonneau
36 *
37 *****************************************************************************/
50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpDebug.h>
52
53#if ((defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && \
54 (VISP_HAVE_OPENCV_VERSION >= 0x020000) && (VISP_HAVE_OPENCV_VERSION < 0x030000))
55
56#include <iomanip>
57#include <iostream>
58#include <stdlib.h>
59#include <visp3/core/vpConfig.h>
60#include <visp3/core/vpImage.h>
61#include <visp3/core/vpIoTools.h>
62#include <visp3/core/vpTime.h>
63#include <visp3/gui/vpDisplayGDI.h>
64#include <visp3/gui/vpDisplayGTK.h>
65#include <visp3/gui/vpDisplayX.h>
66#include <visp3/io/vpImageIo.h>
67#include <visp3/io/vpParseArgv.h>
68#include <visp3/sensor/vp1394TwoGrabber.h>
69#include <visp3/sensor/vpV4l2Grabber.h>
70#include <visp3/vision/vpHomography.h>
71#include <visp3/vision/vpPlanarObjectDetector.h>
72
73#define GETOPTARGS "hlcdb:i:p"
74
75void usage(const char *name, const char *badparam);
76bool getOptions(int argc, const char **argv, bool &isLearning, std::string &dataFile, bool &click_allowed,
77 bool &display, bool &displayPoints, std::string &ipath);
78
87void usage(const char *name, const char *badparam)
88{
89 fprintf(stdout, "\n\
90Test of detection of planar surface using a Fern classifier. The object needs \
91 first to be learned (-l option). This learning process will create a file used\
92 to detect the object.\n\
93\n\
94SYNOPSIS\n\
95 %s [-l] [-h] [-b] [-c] [-d] [-p] [-i] [-s]\n", name);
96
97 fprintf(stdout, "\n\
98OPTIONS: \n\
99 -l\n\
100 learn an object.\n\
101\n\
102 -i <input image path> \n\
103 Set image input path.\n\
104 From this path read \"line/image.%%04d.pgm\"\n\
105 images. \n\
106 Setting the VISP_INPUT_IMAGE_PATH environment\n\
107 variable produces the same behaviour than using\n\
108 this option.\n\
109\n\
110 -b\n\
111 database filename to use (default is ./dataPlanar).\n\
112\n\
113 -c\n\
114 Disable the mouse click. Useful to automaze the \n\
115 execution of this program without humain intervention.\n\
116\n\
117 -d \n\
118 Turn off the display.\n\
119\n\
120 -s \n\
121 Turn off the use of the sequence and use a webcam.\n\
122\n\
123 -p \n\
124 display points of interest.\n\
125\n\
126 -h\n\
127 Print this help.\n");
128
129 if (badparam)
130 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
131}
132
149bool getOptions(int argc, const char **argv, bool &isLearning, std::string &dataFile, bool &click_allowed,
150 bool &display, bool &displayPoints, std::string &ipath)
151{
152 const char *optarg_;
153 int c;
154 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
155
156 switch (c) {
157 case 'c':
158 click_allowed = false;
159 break;
160 case 'd':
161 display = false;
162 break;
163 case 'l':
164 isLearning = true;
165 break;
166 case 'h':
167 usage(argv[0], NULL);
168 return false;
169 break;
170 case 'b':
171 dataFile = optarg_;
172 break;
173 case 'p':
174 displayPoints = true;
175 break;
176 case 'i':
177 ipath = optarg_;
178 break;
179 default:
180 usage(argv[0], optarg_);
181 return false;
182 break;
183 }
184 }
185
186 if ((c == 1) || (c == -1)) {
187 // standalone param or error
188 usage(argv[0], NULL);
189 std::cerr << "ERROR: " << std::endl;
190 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
191 return false;
192 }
193
194 return true;
195}
196
197int main(int argc, const char **argv)
198{
199 try {
200 bool isLearning = false;
201 std::string dataFile("./dataPlanar");
202 bool opt_click_allowed = true;
203 bool opt_display = true;
204 std::string objectName("object");
205 bool displayPoints = false;
206 std::string opt_ipath;
207 std::string ipath;
208 std::string env_ipath;
209 std::string dirname;
210 std::string filename;
211
212 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
213 // environment variable value
215
216 // Set the default input path
217 if (!env_ipath.empty()) {
218 ipath = env_ipath;
219 }
220
221 // Read the command line options
222 if (getOptions(argc, argv, isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, opt_ipath) ==
223 false) {
224 exit(-1);
225 }
226
227 // Get the option values
228 if (!opt_ipath.empty()) {
229 ipath = opt_ipath;
230 }
231
232 // Compare ipath and env_ipath. If they differ, we take into account
233 // the input path comming from the command line option
234 if (!opt_ipath.empty() && !env_ipath.empty()) {
235 if (ipath != env_ipath) {
236 std::cout << std::endl << "WARNING: " << std::endl;
237 std::cout << " Since -i <visp image path=" << ipath << "> "
238 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
239 << " we skip the environment variable." << std::endl;
240 }
241 }
242
243 // Test if an input path is set
244 if (opt_ipath.empty() && env_ipath.empty()) {
245 usage(argv[0], NULL);
246 std::cerr << std::endl << "ERROR:" << std::endl;
247 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
248 << " environment variable to specify the location of the " << std::endl
249 << " image path where test images are located." << std::endl
250 << std::endl;
251 exit(-1);
252 }
253
254 // Declare two images, these are gray level images (unsigned char)
257
258 // Set the path location of the image sequence
259 dirname = vpIoTools::createFilePath(ipath, "cube");
260
261 // Build the name of the image file
262 unsigned iter = 0; // Image number
263 std::ostringstream s;
264 s.setf(std::ios::right, std::ios::adjustfield);
265 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
266 filename = vpIoTools::createFilePath(dirname, s.str());
267
268 // Read the PGM image named "filename" on the disk, and put the
269 // bitmap into the image structure I. I is initialized to the
270 // correct size
271 //
272 // exception readPGM may throw various exception if, for example,
273 // the file does not exist, or if the memory cannot be allocated
274 try {
275 std::cout << "Load: " << filename << std::endl;
276 vpImageIo::read(Iref, filename);
277 I = Iref;
278 } catch (...) {
279 // an exception is throwned if an exception from readPGM has been
280 // catched here this will result in the end of the program Note that
281 // another error message has been printed from readPGM to give more
282 // information about the error
283 std::cerr << std::endl << "ERROR:" << std::endl;
284 std::cerr << " Cannot read " << filename << std::endl;
285 std::cerr << " Check your -i " << ipath << " option " << std::endl
286 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
287 exit(-1);
288 }
289
290#if defined VISP_HAVE_X11
291 vpDisplayX display;
292#elif defined VISP_HAVE_GTK
293 vpDisplayGTK display;
294#elif defined VISP_HAVE_GDI
295 vpDisplayGDI display;
296#endif
297
298#if defined VISP_HAVE_X11
299 vpDisplayX displayRef;
300#elif defined VISP_HAVE_GTK
301 vpDisplayGTK displayRef;
302#elif defined VISP_HAVE_GDI
303 vpDisplayGDI displayRef;
304#endif
305
306 // declare a planar object detector
307 vpPlanarObjectDetector planar;
308
309 vpImagePoint corners[2];
310 if (isLearning) {
311 if (opt_display) {
312 displayRef.init(Iref, 100, 100, "Reference image");
313 vpDisplay::display(Iref);
314 vpDisplay::flush(Iref);
315 }
316 if (opt_display && opt_click_allowed) {
317 std::cout << "Click on the top left and the bottom right corners to "
318 "define the reference plane"
319 << std::endl;
320 for (int i = 0; i < 2; i++) {
321 vpDisplay::getClick(Iref, corners[i]);
322 std::cout << corners[i] << std::endl;
323 }
324 } else {
325 corners[0].set_ij(50, I.getWidth() - 100); // small ROI for the automated test
326 corners[1].set_ij(I.getHeight() - 100, I.getWidth() - 2);
327 }
328
329 if (opt_display) {
330 // Display the rectangle which defines the part of the image where the
331 // reference points are computed.
332 vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
333 vpDisplay::flush(Iref);
334 }
335
336 if (opt_click_allowed) {
337 std::cout << "Click on the image to continue" << std::endl;
339 }
340
341 vpRect roi(corners[0], corners[1]);
342
343 std::cout << "> train the classifier on the selected plane (may take "
344 "up to several minutes)."
345 << std::endl;
346 if (opt_display) {
347 vpDisplay::display(Iref);
348 vpDisplay::flush(Iref);
349 }
350 double t0 = vpTime::measureTimeMs();
351 planar.buildReference(Iref, roi);
352 std::cout << "build reference in " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
354 planar.recordDetector(objectName, dataFile);
355 std::cout << "record detector in " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
356 } else {
357 if (!vpIoTools::checkFilename(dataFile)) {
358 vpERROR_TRACE("cannot load the database with the specified name. Has "
359 "the object been learned with the -l option? ");
360 exit(-1);
361 }
362 try {
363 // load a previously recorded file
364 planar.load(dataFile, objectName);
365 } catch (...) {
366 vpERROR_TRACE("cannot load the database with the specified name. Has "
367 "the object been learned with the -l option? ");
368 exit(-1);
369 }
370 }
371
372 if (opt_display) {
373 display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image");
376 }
377
378 if (opt_display && opt_click_allowed) {
379 std::cout << "Click on the reference image to continue" << std::endl;
380 vpDisplay::displayText(Iref, vpImagePoint(15, 15), "Click on the reference image to continue", vpColor::red);
381 vpDisplay::flush(Iref);
383 }
384
385 for (;;) {
386 // acquire a new image
387 iter++;
388 if (iter >= 80) {
389 break;
390 }
391 s.str("");
392 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
393 filename = vpIoTools::createFilePath(dirname, s.str());
394 // read the image
395 vpImageIo::read(I, filename);
396
397 if (opt_display) {
399 }
400
401 double t0 = vpTime::measureTimeMs();
402 // detection of the reference planar surface
403 bool isDetected = planar.matchPoint(I);
404 std::cout << "matching in " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
405
406 if (isDetected) {
407 vpHomography H;
408 planar.getHomography(H);
409 std::cout << " > computed homography:" << std::endl << H << std::endl;
410 if (opt_display) {
411 if (isLearning) {
412 vpDisplay::display(Iref);
413 vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
414 planar.display(Iref, I, displayPoints);
415 vpDisplay::flush(Iref);
416 } else {
417 planar.display(I, displayPoints);
418 }
419 }
420 } else {
421 std::cout << " > reference is not detected in the image" << std::endl;
422 }
423 if (opt_display) {
425 if (vpDisplay::getClick(I, false)) {
426 break;
427 }
428 }
429 }
430
431 return EXIT_SUCCESS;
432 } catch (const vpException &e) {
433 std::cout << "Catch an exception: " << e << std::endl;
434 return EXIT_FAILURE;
435 }
436}
437
438#else
439int main()
440{
441#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
442 std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
443 std::cout << "Tip if you are on a unix-like system:" << std::endl;
444 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
445 std::cout << "Tip if you are on a windows-like system:" << std::endl;
446 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
447#else
448 std::cout << "You do not have OpenCV functionalities" << std::endl;
449 std::cout << "Tip:" << std::endl;
450 std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
451#endif
452 return EXIT_SUCCESS;
453}
454
455#endif
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void set_ij(double ii, double jj)
Definition: vpImagePoint.h:188
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:802
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Defines a rectangle in the plane.
Definition: vpRect.h:80
#define vpERROR_TRACE
Definition: vpDebug.h:393
VISP_EXPORT double measureTimeMs()