CCascadeClassifierDetection.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "detectors-precomp.h"  // Precompiled headers

#include <mrpt/detectors/CCascadeClassifierDetection.h>
#include <mrpt/obs/CObservationImage.h>
#include <mrpt/obs/CObservationStereoImages.h>
#include <mrpt/obs/CObservation3DRangeScan.h>

// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>

#include <thread>

using namespace mrpt::detectors;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace std;

#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
using namespace cv;
#endif

#define CASCADE (reinterpret_cast<CascadeClassifier*>(m_cascade))
#define CASCADE_CONST (reinterpret_cast<const CascadeClassifier*>(m_cascade))

// ------------------------------------------------------
//                              CCascadeClassifierDetection
// ------------------------------------------------------

CCascadeClassifierDetection::CCascadeClassifierDetection()
{
// Check if MRPT is using OpenCV
#if !MRPT_HAS_OPENCV || MRPT_OPENCV_VERSION_NUM < 0x200
        THROW_EXCEPTION(
                "CCascadeClassifierDetection class requires MRPT built against OpenCV "
                ">=2.0")
#endif
}

// ------------------------------------------------------
//                      ~CCascadeClassifierDetection
// ------------------------------------------------------

CCascadeClassifierDetection::~CCascadeClassifierDetection()
{
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        delete CASCADE;
#endif
}

// ------------------------------------------------------
//                                                init
// ------------------------------------------------------

void CCascadeClassifierDetection::init(
        const mrpt::utils::CConfigFileBase& config)
{
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        // load configuration values
        m_options.cascadeFileName =
                config.read_string("CascadeClassifier", "cascadeFilename", "");
        m_options.scaleFactor =
                config.read_double("DetectionOptions", "scaleFactor", 1.1);
        m_options.minNeighbors =
                config.read_int("DetectionOptions", "minNeighbors", 3);
        m_options.flags = config.read_int("DetectionOptions", "flags", 0);
        m_options.minSize = config.read_int("DetectionOptions", "minSize", 30);

        m_cascade = new CascadeClassifier();

        // Load cascade classifier from file
        CASCADE->load(m_options.cascadeFileName);

        // Check if cascade is empty
        if (CASCADE->empty()) throw std::runtime_error("Incorrect cascade file.");
#endif
}

// ------------------------------------------------------
//                              detectObjects (*CObservation)
// ------------------------------------------------------

void CCascadeClassifierDetection::detectObjects_Impl(
        const CObservation* obs, vector_detectable_object& detected)
{
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        // Obtain image from generic observation
        const mrpt::utils::CImage* img = nullptr;

        if (IS_CLASS(obs, CObservationImage))
        {
                const CObservationImage* o = static_cast<const CObservationImage*>(obs);
                img = &o->image;
        }
        else if (IS_CLASS(obs, CObservationStereoImages))
        {
                const CObservationStereoImages* o =
                        static_cast<const CObservationStereoImages*>(obs);
                img = &o->imageLeft;
        }
        else if (IS_CLASS(obs, CObservation3DRangeScan))
        {
                const CObservation3DRangeScan* o =
                        static_cast<const CObservation3DRangeScan*>(obs);
                img = &o->intensityImage;
        }
        if (!img)
        {
                std::this_thread::sleep_for(2ms);
                return;
        }

        vector<Rect> objects;

        // Some needed preprocessing
        const CImage img_gray(*img, FAST_REF_OR_CONVERT_TO_GRAY);

        // Convert to IplImage and copy it
        const IplImage* image = img_gray.getAs<IplImage>();

        // Detect objects
        CASCADE->detectMultiScale(
                cv::cvarrToMat(image), objects, m_options.scaleFactor,
                m_options.minNeighbors, m_options.flags,
                Size(m_options.minSize, m_options.minSize));

        unsigned int N = objects.size();
        // detected.resize( N );

        // Convert from cv::Rect to vision::CDetectable2D
        for (unsigned int i = 0; i < N; i++)
        {
                CDetectable2D::Ptr obj = CDetectable2D::Ptr(
                        new CDetectable2D(
                                objects[i].x, objects[i].y, objects[i].height,
                                objects[i].width));

                detected.push_back((CDetectableObject::Ptr)obj);
        }
#endif
}