Visual Servoing Platform version 3.5.0
vpPlanarObjectDetector.h
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 * Planar surface detection tool.
33 *
34 * Authors:
35 * Romain Tallonneau
36 *
37 *****************************************************************************/
38
39#ifndef VPPLANAROBJECTDETECTOR_H_
40#define VPPLANAROBJECTDETECTOR_H_
41
42#include <visp3/core/vpConfig.h>
43
44#if (VISP_HAVE_OPENCV_VERSION >= 0x020000) && \
45 (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.0.0 and < 3.0.0
46
47#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
48#include <opencv2/calib3d/calib3d.hpp>
49#include <opencv2/features2d/features2d.hpp>
50#include <opencv2/imgproc/imgproc.hpp>
51#elif (VISP_HAVE_OPENCV_VERSION >= 0x020000) // Require opencv >= 2.0.0
52#include <cv.h>
53#include <cvaux.hpp>
54#endif
55
56#include <visp3/core/vpCameraParameters.h>
57#include <visp3/core/vpHomogeneousMatrix.h>
58#include <visp3/core/vpImage.h>
59#include <visp3/core/vpImagePoint.h>
60#include <visp3/core/vpPoint.h>
61#include <visp3/core/vpRect.h>
62#include <visp3/vision/vpFernClassifier.h>
63#include <visp3/vision/vpHomography.h>
64
140class VISP_EXPORT vpPlanarObjectDetector
141{
142protected:
145 vpFernClassifier fern;
146
148 vpHomography homography;
150 cv::Mat H;
151
154 std::vector<cv::Point2f> dst_corners;
155
157 bool isCorrect;
158
160 std::vector<cv::Point2f> ref_corners;
161
163 cv::Rect modelROI;
164
167 std::vector<vpImagePoint> currentImagePoints;
170 std::vector<vpImagePoint> refImagePoints;
171
174 unsigned int minNbMatching;
175
176public:
177 // constructors and destructors
178 vpPlanarObjectDetector();
179 vpPlanarObjectDetector(const std::string &dataFile, const std::string &objectName);
180 virtual ~vpPlanarObjectDetector();
181
182 // main functions
183 // creation of reference
184 unsigned int buildReference(const vpImage<unsigned char> &I);
185 unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
186 unsigned int width);
187 unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
188
189 // matching
190 bool matchPoint(const vpImage<unsigned char> &I);
191 bool matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
192 unsigned int width);
193 bool matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
194 // database management
195 void recordDetector(const std::string &objectName, const std::string &dataFile);
196 void load(const std::string &dataFilename, const std::string &objName);
197
198 // display
199 void display(vpImage<unsigned char> &I, bool displayKpts = false);
200 void display(vpImage<unsigned char> &Iref, vpImage<unsigned char> &Icurrent, bool displayKpts = false);
201
208 std::vector<vpImagePoint> getDetectedCorners() const;
209
215 vpFernClassifier &getFernClassifier() { return this->fern; }
216
223 inline void getHomography(vpHomography &_H) const { _H = this->homography; }
224
230 inline unsigned int getNbRefPoints() { return (unsigned int)currentImagePoints.size(); }
231
240 void getReferencePoint(const unsigned int _i, vpImagePoint &_imPoint);
241
253 void getMatchedPoints(const unsigned int _index, vpImagePoint &_referencePoint, vpImagePoint &_currentPoint);
254
261 void setMinNbPointValidation(const unsigned int _min) { this->minNbMatching = _min; }
262
269 unsigned int getMinNbPointValidation() const { return this->minNbMatching; }
270
271protected:
272 virtual void init();
273 void computeRoi(vpImagePoint *ip, unsigned int nbpt);
274 void initialiseRefCorners(const cv::Rect &_modelROI);
275};
276
277#endif
278
279#endif /* VPPLANAROBJECTDETECTOR_H_ */
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Defines a rectangle in the plane.
Definition: vpRect.h:80