vpPlanarObjectDetector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://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:
 * Planar surface detection tool.
 */
 
#ifndef _vpPlanarObjectDetector_h_
#define _vpPlanarObjectDetector_h_
 
#include <visp3/core/vpConfig.h>
 
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408) && \
    (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.4.8 and < 3.0.0
 
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRect.h>
#include <visp3/vision/vpFernClassifier.h>
#include <visp3/vision/vpHomography.h>
 
class VISP_EXPORT vpPlanarObjectDetector
{
protected:
  vpFernClassifier fern;
 
  vpHomography homography;
  cv::Mat H;
 
  std::vector<cv::Point2f> dst_corners;
 
  bool isCorrect;
 
  std::vector<cv::Point2f> ref_corners;
 
  cv::Rect modelROI;
 
  std::vector<vpImagePoint> currentImagePoints;
  std::vector<vpImagePoint> refImagePoints;
 
  unsigned int minNbMatching;
 
public:
  // constructors and destructors
  vpPlanarObjectDetector();
  vpPlanarObjectDetector(const std::string &dataFile, const std::string &objectName);
  virtual ~vpPlanarObjectDetector();
 
  // main functions
  // creation of reference
  unsigned int buildReference(const vpImage<unsigned char> &I);
  unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
    unsigned int width);
  unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
 
  // matching
  bool matchPoint(const vpImage<unsigned char> &I);
  bool matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height, unsigned int width);
  bool matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
  // database management
  void recordDetector(const std::string &objectName, const std::string &dataFile);
  void load(const std::string &dataFilename, const std::string &objName);
 
  // display
  void display(vpImage<unsigned char> &I, bool displayKpts = false);
  void display(vpImage<unsigned char> &Iref, vpImage<unsigned char> &Icurrent, bool displayKpts = false);
 
  std::vector<vpImagePoint> getDetectedCorners() const;
 
  vpFernClassifier &getFernClassifier() { return this->fern; }
 
  inline void getHomography(vpHomography &_H) const { _H = this->homography; }
 
  inline unsigned int getNbRefPoints() { return (unsigned int)currentImagePoints.size(); }
 
  void getReferencePoint(const unsigned int _i, vpImagePoint &_imPoint);
 
  void getMatchedPoints(const unsigned int _index, vpImagePoint &_referencePoint, vpImagePoint &_currentPoint);
 
  void setMinNbPointValidation(const unsigned int _min) { this->minNbMatching = _min; }
 
  unsigned int getMinNbPointValidation() const { return this->minNbMatching; }
 
protected:
  virtual void init();
  void computeRoi(vpImagePoint *ip, unsigned int nbpt);
  void initialiseRefCorners(const cv::Rect &_modelROI);
};
 
#endif
 
#endif /* VPPLANAROBJECTDETECTOR_H_ */