Visual Servoing Platform version 3.5.0
fernClassifier.cpp
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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.
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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 points of interests and matching using the Ferns classifier.
33 *
34 * Authors:
35 * Romain Tallonneau
36 *
37 *****************************************************************************/
51#include <visp3/core/vpConfig.h>
52#include <visp3/core/vpDebug.h>
53
54#if ((defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) && \
55 (VISP_HAVE_OPENCV_VERSION >= 0x020000) && (VISP_HAVE_OPENCV_VERSION < 0x030000))
56
57#include <iomanip>
58#include <iostream>
59#include <stdlib.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/vision/vpFernClassifier.h>
69#include <visp3/vision/vpHomography.h>
70
71#define GETOPTARGS "hlcdb:i:p"
72
73void usage(const char *name, const char *badparam);
74bool getOptions(int argc, const char **argv, bool &isLearning, std::string &dataFile, bool &click_allowed,
75 bool &display, bool &displayPoints, std::string &ipath);
76
85void usage(const char *name, const char *badparam)
86{
87 fprintf(stdout, "\n\
88Detection of points of interests and matching using the Ferns classifier. The \
89object needs first to be learned (-l option). This learning process will create\
90a file used to detect the object.\n\
91\n\
92SYNOPSIS\n\
93 %s [-l] [-h] [-b] [-c] [-d] [-p] [-i]\n", name);
94
95 fprintf(stdout, "\n\
96OPTIONS: \n\
97 -l\n\
98 learn an object.\n\
99\n\
100 -i <input image path> \n\
101 Set image input path.\n\
102 From this path read \"line/image.%%04d.pgm\"\n\
103 images. \n\
104 Setting the VISP_INPUT_IMAGE_PATH environment\n\
105 variable produces the same behaviour than using\n\
106 this option.\n\
107\n\
108 -b\n\
109 database filename to use (default is ./dataFern).\n\
110\n\
111 -c\n\
112 Disable the mouse click. Useful to automaze the \n\
113 execution of this program without humain intervention.\n\
114\n\
115 -d \n\
116 Turn off the display.\n\
117\n\
118 -p \n\
119 display points of interest.\n\
120\n\
121 -h\n\
122 Print this help.\n");
123
124 if (badparam)
125 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
126}
127
144bool getOptions(int argc, const char **argv, bool &isLearning, std::string &dataFile, bool &click_allowed,
145 bool &display, bool &displayPoints, std::string &ipath)
146{
147 const char *optarg_;
148 int c;
149 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
150
151 switch (c) {
152 case 'c':
153 click_allowed = false;
154 break;
155 case 'd':
156 display = false;
157 break;
158 case 'l':
159 isLearning = true;
160 break;
161 case 'h':
162 usage(argv[0], NULL);
163 return false;
164 break;
165 case 'b':
166 dataFile = optarg_;
167 break;
168 case 'p':
169 displayPoints = true;
170 break;
171 case 'i':
172 ipath = optarg_;
173 break;
174 default:
175 usage(argv[0], optarg_);
176 return false;
177 break;
178 }
179 }
180
181 if ((c == 1) || (c == -1)) {
182 // standalone param or error
183 usage(argv[0], NULL);
184 std::cerr << "ERROR: " << std::endl;
185 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
186 return false;
187 }
188
189 return true;
190}
191
192int main(int argc, const char **argv)
193{
194 try {
195 bool isLearning = false;
196 std::string dataFile("./dataFern");
197 bool opt_click_allowed = true;
198 bool opt_display = true;
199 std::string objectName("object");
200 bool displayPoints = false;
201 std::string opt_ipath;
202 std::string ipath;
203 std::string env_ipath;
204 std::string dirname;
205 std::string filename;
206
207 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
208 // environment variable value
210
211 // Set the default input path
212 if (!env_ipath.empty()) {
213 ipath = env_ipath;
214 }
215
216 // Read the command line options
217 if (getOptions(argc, argv, isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, opt_ipath) ==
218 false) {
219 exit(-1);
220 }
221
222 // Get the option values
223 if (!opt_ipath.empty()) {
224 ipath = opt_ipath;
225 }
226
227 // Compare ipath and env_ipath. If they differ, we take into account
228 // the input path comming from the command line option
229 if (!opt_ipath.empty() && !env_ipath.empty()) {
230 if (ipath != env_ipath) {
231 std::cout << std::endl << "WARNING: " << std::endl;
232 std::cout << " Since -i <visp image path=" << ipath << "> "
233 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
234 << " we skip the environment variable." << std::endl;
235 }
236 }
237
238 // Test if an input path is set
239 if (opt_ipath.empty() && env_ipath.empty()) {
240 usage(argv[0], NULL);
241 std::cerr << std::endl << "ERROR:" << std::endl;
242 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
243 << " environment variable to specify the location of the " << std::endl
244 << " image path where test images are located." << std::endl
245 << std::endl;
246 exit(-1);
247 }
248
249 // Declare two images, these are gray level images (unsigned char)
252
253 // Set the path location of the image sequence
254 dirname = vpIoTools::createFilePath(ipath, "cube");
255
256 // Build the name of the image file
257 unsigned iter = 0; // Image number
258 std::ostringstream s;
259 s.setf(std::ios::right, std::ios::adjustfield);
260 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
261 filename = vpIoTools::createFilePath(dirname, s.str());
262
263 // Read the PGM image named "filename" on the disk, and put the
264 // bitmap into the image structure I. I is initialized to the
265 // correct size
266 //
267 // exception readPGM may throw various exception if, for example,
268 // the file does not exist, or if the memory cannot be allocated
269 try {
270 std::cout << "Load: " << filename << std::endl;
271 vpImageIo::read(Iref, filename);
272 I = Iref;
273 } catch (...) {
274 // an exception is throwned if an exception from readPGM has been
275 // catched here this will result in the end of the program Note that
276 // another error message has been printed from readPGM to give more
277 // information about the error
278 std::cerr << std::endl << "ERROR:" << std::endl;
279 std::cerr << " Cannot read " << filename << std::endl;
280 std::cerr << " Check your -i " << ipath << " option " << std::endl
281 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
282 exit(-1);
283 }
284
285#if defined VISP_HAVE_X11
286 vpDisplayX display;
287#elif defined VISP_HAVE_GTK
288 vpDisplayGTK display;
289#elif defined VISP_HAVE_GDI
290 vpDisplayGDI display;
291#endif
292
293#if defined VISP_HAVE_X11
294 vpDisplayX displayRef;
295#elif defined VISP_HAVE_GTK
296 vpDisplayGTK displayRef;
297#elif defined VISP_HAVE_GDI
298 vpDisplayGDI displayRef;
299#endif
300
301 // declare a planar object detector
302 vpFernClassifier fern;
303
304 if (isLearning) {
305 if (opt_display) {
306 displayRef.init(Iref, 100, 100, "Reference image");
307 vpDisplay::display(Iref);
308 vpDisplay::flush(Iref);
309 }
310 vpImagePoint corners[2];
311 if (opt_display && opt_click_allowed) {
312 std::cout << "Click on the top left and the bottom right corners to "
313 "define the reference plane"
314 << std::endl;
315 for (int i = 0; i < 2; i++) {
316 vpDisplay::getClick(Iref, corners[i]);
317 std::cout << corners[i] << std::endl;
318 }
319 } else {
320 corners[0].set_ij(1, 1);
321 corners[1].set_ij(I.getHeight() - 2, I.getWidth() - 2);
322 }
323
324 if (opt_display) {
325 // Display the rectangle which defines the part of the image where the
326 // reference points are computed.
327 vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
328 vpDisplay::flush(Iref);
329 }
330
331 if (opt_click_allowed) {
332 std::cout << "Click on the image to continue" << std::endl;
334 }
335
336 vpRect roi(corners[0], corners[1]);
337
338 std::cout << "> train the classifier on the selected plane. (may take "
339 "up to several minutes)."
340 << std::endl;
341 if (opt_display) {
342 vpDisplay::display(Iref);
343 vpDisplay::flush(Iref);
344 }
345
346 try {
347 fern.buildReference(Iref, roi);
348 } catch (const vpException &e) {
349 std::cout << e.getMessage() << std::endl;
350 } catch (...) {
351 std::cout << "unknown error, line " << __LINE__ << std::endl;
352 }
353 try {
354 fern.record(objectName, dataFile);
355 } catch (const vpException &e) {
356 std::cout << e.getMessage() << std::endl;
357 } catch (...) {
358 std::cout << "unknown error, line " << __LINE__ << std::endl;
359 }
360 std::cout << __LINE__ << std::endl;
361 } else {
362 if (!vpIoTools::checkFilename(dataFile)) {
363 vpERROR_TRACE("cannot load the database with the specified name. Has "
364 "the object been learned with the -l option? ");
365 exit(-1);
366 }
367 try {
368 // load a previously recorded file
369 fern.load(dataFile, objectName);
370 } catch (...) {
371 vpERROR_TRACE("cannot load the database with the specified name. Has "
372 "the object been learned with the -l option? ");
373 exit(-1);
374 }
375 }
376
377 if (opt_display) {
378 display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image");
381 }
382
383 if (opt_display && opt_click_allowed) {
384 std::cout << "Click on the current image to continue" << std::endl;
385 vpDisplay::displayText(I, vpImagePoint(15, 15), "Click on the current image to continue", vpColor::red);
388 }
389
390 for (;;) {
391 // acquire a new image
392 iter++;
393 if (iter >= 80) {
394 break;
395 }
396 s.str("");
397 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
398 filename = vpIoTools::createFilePath(dirname, s.str());
399 // read the image
400 vpImageIo::read(I, filename);
401
402 if (opt_display) {
404 if (isLearning)
405 vpDisplay::display(Iref);
406 }
407
408 double t0 = vpTime::measureTimeMs();
409 // detection of the reference image
410 unsigned int nbpts;
411 try {
412 nbpts = fern.matchPoint(I);
413 } catch (const vpException &e) {
414 std::cout << e.getMessage() << std::endl;
415 return -1;
416 } catch (...) {
417 std::cout << "unknown error line " << __LINE__ << std::endl;
418 return -1;
419 }
420 std::cout << "matching " << nbpts << " points : " << vpTime::measureTimeMs() - t0 << " ms" << std::endl;
421
422 if (opt_display) {
423 fern.display(Iref, I, 7);
425 if (isLearning)
426 vpDisplay::flush(Iref);
427 if (vpDisplay::getClick(I, false)) {
428 break;
429 }
430 }
431 }
432
433 return EXIT_SUCCESS;
434 } catch (const vpException &e) {
435 std::cout << "Catch an exception: " << e << std::endl;
436 return EXIT_SUCCESS;
437 }
438}
439
440#else
441int main()
442{
443#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
444 std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
445 std::cout << "Tip if you are on a unix-like system:" << std::endl;
446 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
447 std::cout << "Tip if you are on a windows-like system:" << std::endl;
448 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
449#else
450 std::cout << "You do not have OpenCV functionalities" << std::endl;
451 std::cout << "Tip:" << std::endl;
452 std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
453#endif
454 return EXIT_SUCCESS;
455}
456
457#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
const char * getMessage() const
Definition: vpException.cpp:90
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()