#include <vpPlanarObjectDetector.h>

Public Member Functions
	vpPlanarObjectDetector ()

	vpPlanarObjectDetector (const std::string &dataFile, const std::string &objectName)

virtual	~vpPlanarObjectDetector ()

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)

bool	matchPoint (const vpImage< unsigned char > &I)

bool	matchPoint (const vpImage< unsigned char > &I, const vpImagePoint &iP, const unsigned int height, const unsigned int width)

bool	matchPoint (const vpImage< unsigned char > &I, const vpRect rectangle)

void	recordDetector (const std::string &objectName, const std::string &dataFile)

void	load (const std::string &dataFilename, const std::string &objName)

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 ()

void	getHomography (vpHomography &_H) const

unsigned int	getNbRefPoints ()

void	getReferencePoint (const unsigned int _i, vpImagePoint &_imPoint)

void	getMatchedPoints (const unsigned int _index, vpImagePoint &_referencePoint, vpImagePoint &_currentPoint)

void	setMinNbPointValidation (const unsigned int _min)

unsigned int	getMinNbPointValidation () const

Protected Member Functions
virtual void	init ()

void	computeRoi (vpImagePoint *ip, const unsigned int nbpt)

void	initialiseRefCorners (const cv::Rect &_modelROI)

Protected Attributes
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

Detailed Description

Class used to detect a planar surface.

This class allows to learn and recognise a surface in an image based on the Fern Classifier or any other point of interest matching class.

It uses the class vpFernClassifier to extract points of interest in a reference image. These points are recorded and a classifier is trained to recognises them.

In this class the points detected are assumed to belong to a planar surface. Therefore an homography can be computed between the reference image and the current image if the object is detected in the image.

A robust method (RANSAC) is used to remove outliers in the matching process.

The following example shows how to use the class.

#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpPlanarObjectDetector.h>
#if VISP_HAVE_OPENCV_VERSION >= 0x020000 // Surf Fern classifier only available since 2.1.0
int main()
{
  vpImage<unsigned char> Ireference;
  vpImage<unsigned char> Icurrent;
  vpPlanarObjectDetector planar;
  //First grab the reference image Ireference
  //Select a part of the image by clincking on two points which define a rectangle
  vpImagePoint corners[2];
  for (int i=0 ; i < 2 ; i++)
  {
    vpDisplay::getClick(Ireference, corners[i]);
  }
  //Build the reference points (and train the classifier).
  int nbrRef;
  unsigned int height, width;
  height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
  width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
  nbrRef = planar.buildReference(Ireference, corners[0], height, width);
  //Then grab another image which represents the current image Icurrent
  //Match points between the reference points and the current points computed in the current image.
  bool isDetected;
  height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
  width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
  isDetected = planar.matchPoint(Icurrent, corners[0], height, width);
  //Display the matched points
  if(isDetected){
    planar.display(Ireference, Icurrent);
    vpHomography homography;
    planar.getHomography(homography);
  }
  else{
    std::cerr << "planar surface not detected in the current image" << std::endl;
  }
  return(0);
}
#else
int main() {}
#endif

Examples:: planarObjectDetector.cpp.

Definition at line 143 of file vpPlanarObjectDetector.h.

Constructor & Destructor Documentation

vpPlanarObjectDetector::vpPlanarObjectDetector ( )

Basic constructor

Definition at line 62 of file vpPlanarObjectDetector.cpp.

vpPlanarObjectDetector::vpPlanarObjectDetector	(	const std::string &	_dataFile,
		const std::string &	_objectName
	)

Basic constructor, load data from a file.

Parameters

_dataFile	: the name of the file.
_objectName	: the name of the object to load.

Definition at line 76 of file vpPlanarObjectDetector.cpp.

References load().

vpPlanarObjectDetector::~vpPlanarObjectDetector ( )

virtual

Basic destructor

Definition at line 96 of file vpPlanarObjectDetector.cpp.

Member Function Documentation

unsigned int vpPlanarObjectDetector::buildReference ( const vpImage< unsigned char > & _I )

Train the classifier from the entire image (it is therefore assumed that the image is planar).

Depending on the parameters, the training can take up to several minutes.

Parameters

_I	: The image use to train the classifier.

Returns: The number of reference points.

Examples:: planarObjectDetector.cpp.

Definition at line 154 of file vpPlanarObjectDetector.cpp.

References vpFernClassifier::buildReference(), fern, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), initialiseRefCorners(), and modelROI.

unsigned int vpPlanarObjectDetector::buildReference	(	const vpImage< unsigned char > &	_I,
		const vpImagePoint &	_iP,
		unsigned int	_height,
		unsigned int	_width
	)

Train the classifier on a region of the entire image. The region is a rectangle defined by its top left corner, its height and its width. The parameters of this rectangle must be given in pixel. It also includes the training of the fern classifier.

Parameters

_I	: The image use to train the classifier.
_iP	: The top left corner of the rectangle defining the region of interest (ROI).
_height	: The height of the ROI.
_width	: The width of the ROI.

Returns: the number of reference points

Definition at line 181 of file vpPlanarObjectDetector.cpp.

References vpFernClassifier::buildReference(), fern, vpImagePoint::get_u(), vpImagePoint::get_v(), initialiseRefCorners(), and modelROI.

unsigned int vpPlanarObjectDetector::buildReference	(	const vpImage< unsigned char > &	_I,
		const vpRect	_rectangle
	)

Train the classifier on a region of the entire image. The region is a rectangle. The parameters of this rectangle must be given in pixel. It also includes the training of the fern classifier.

Parameters

_I	: The image use to train the classifier.
_rectangle	: The rectangle defining the region of interest (ROI).

Returns: The number of reference points.

Definition at line 209 of file vpPlanarObjectDetector.cpp.

References vpFernClassifier::buildReference(), fern, vpImagePoint::get_u(), vpImagePoint::get_v(), vpRect::getHeight(), vpRect::getTopLeft(), vpRect::getWidth(), initialiseRefCorners(), and modelROI.

void vpPlanarObjectDetector::computeRoi	(	vpImagePoint *	ip,
		const unsigned int	nbpt
	)

protected

Compute the rectangular ROI from at least 4 points and set the region of interest on the current image.

Parameters

ip	: the list of image point.
nbpt	: the number of point.

Definition at line 109 of file vpPlanarObjectDetector.cpp.

References vpException::badValue, and vpImagePoint::get_j().

void vpPlanarObjectDetector::display	(	vpImage< unsigned char > &	I,
		bool	displayKpts = `false`
	)

Display the result of the matching. The plane is displayed in red and the points of interests detected in the image are shown by a red dot surrounded by a green circle (the radius of the circle depends on the octave at which it has been detected).

Parameters

I	: The gray scaled image for the display.
displayKpts	: The flag to display keypoints in addition to the surface.

Examples:: planarObjectDetector.cpp.

Definition at line 387 of file vpPlanarObjectDetector.cpp.

References currentImagePoints, vpDisplay::displayCross(), vpDisplay::displayLine(), dst_corners, modelROI, and vpColor::red.

Referenced by display().

void vpPlanarObjectDetector::display	(	vpImage< unsigned char > &	Iref,
		vpImage< unsigned char > &	Icurrent,
		bool	displayKpts = `false`
	)

This function displays the matched reference points and the matched points computed in the current image. The reference points are displayed in the image Ireference and the matched points coming from the current image are displayed in the image Icurrent. It is possible to set Ireference and Icurrent with the same image when calling the method.

Parameters

Iref	: The image where the matched reference points are displayed.
Icurrent	: The image where the matched points computed in the current image are displayed.
displayKpts	: The flag to display keypoints in addition to the surface.

Definition at line 427 of file vpPlanarObjectDetector.cpp.

References display(), vpDisplay::displayCross(), vpColor::green, and refImagePoints.

std::vector< vpImagePoint > vpPlanarObjectDetector::getDetectedCorners ( ) const

Return the positions of the detected corners.

Returns: a vector of vpImagePoint containing the position of the corners of the planar surface in the current image.

Return the last positions of the detected corners.

Returns: The vectors of corners' postions.

Definition at line 480 of file vpPlanarObjectDetector.cpp.

References dst_corners, and vpImagePoint::set_uv().

vpFernClassifier& vpPlanarObjectDetector::getFernClassifier ( )

inline

Return a reference to the classifier.

Returns: The fern classifier.

Definition at line 217 of file vpPlanarObjectDetector.h.

void vpPlanarObjectDetector::getHomography ( vpHomography & _H ) const

inline

Return the computed homography between the reference image and the current image.

Parameters

_H	: The computed homography.

Examples:: planarObjectDetector.cpp.

Definition at line 225 of file vpPlanarObjectDetector.h.

void vpPlanarObjectDetector::getMatchedPoints	(	const unsigned int	_index,
		vpImagePoint &	_referencePoint,
		vpImagePoint &	_currentPoint
	)

Get the nth couple of reference point and current point which have been matched. These points are copied in the vpImagePoint instances given in argument.

Parameters

_index	: The index of the desired couple of reference point and current point . The index must be between 0 and the number of matched points - 1.
_referencePoint	: The coordinates of the desired reference point are copied here.
_currentPoint	: The coordinates of the desired current point are copied here.

Definition at line 530 of file vpPlanarObjectDetector.cpp.

References currentImagePoints, vpException::fatalError, and refImagePoints.

unsigned int vpPlanarObjectDetector::getMinNbPointValidation ( ) const

inline

Get the threshold for the minimal number of point to validate the homography. Default value is 10.

Returns: : the current threshold.

Definition at line 268 of file vpPlanarObjectDetector.h.

unsigned int vpPlanarObjectDetector::getNbRefPoints ( )

inline

Return the number of reference points

Returns: Number of reference points.

Definition at line 232 of file vpPlanarObjectDetector.h.

void vpPlanarObjectDetector::getReferencePoint	(	const unsigned int	_i,
		vpImagePoint &	_imPoint
	)

Get the i-th reference point.

Exceptions

vpException if _i is out if bound.

Parameters

_i	: index of the point to get
_imPoint	: image point returned by the

Definition at line 521 of file vpPlanarObjectDetector.cpp.

References vpException::fatalError, and refImagePoints.

void vpPlanarObjectDetector::init ( )

protectedvirtual

Initialise stuff. For the moment does nothing.

Definition at line 87 of file vpPlanarObjectDetector.cpp.

void vpPlanarObjectDetector::initialiseRefCorners ( const cv::Rect & _modelROI )

protected

Initialise the internal reference corners from the rectangle.

Parameters

_modelROI : The rectangle defining the region of interest.

Definition at line 498 of file vpPlanarObjectDetector.cpp.

References ref_corners.

Referenced by buildReference(), and load().

void vpPlanarObjectDetector::load	(	const std::string &	dataFilename,
		const std::string &	objName
	)

Load the Fern classifier.

Load and initialize the Fern classifier and load the 3D and 2D keypoints. It can take up to sevral seconds.

Parameters

dataFilename	: The name of the data filename (very large text file). It can have any file extension.
objName	: The name of the object.

Examples:: planarObjectDetector.cpp.

Definition at line 451 of file vpPlanarObjectDetector.cpp.

References fern, vpFernClassifier::getModelROI(), initialiseRefCorners(), vpFernClassifier::load(), and modelROI.

Referenced by vpPlanarObjectDetector().

bool vpPlanarObjectDetector::matchPoint ( const vpImage< unsigned char > & I )

Compute the points of interest in the current image and try to recognise them using the trained classifier. The matched pairs can be found with the getMatchedPointByRef function. The homography between the two planar surfaces is also computed.

Parameters

I	: The gray scaled image where the points are computed.

Returns: True if the surface has been found.

Examples:: planarObjectDetector.cpp.

Definition at line 238 of file vpPlanarObjectDetector.cpp.

References currentImagePoints, dst_corners, fern, vpFernClassifier::getCurPt(), vpFernClassifier::getRefPt(), H, homography, isCorrect, vpFernClassifier::matchPoint(), minNbMatching, modelROI, ref_corners, refImagePoints, vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by matchPoint().

bool vpPlanarObjectDetector::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	iP,
		const unsigned int	height,
		const unsigned int	width
	)

Compute the points of interest in the specified region of the current image and try to recognise them using the trained classifier. The matched pairs can be found with the getMatchedPointByRef function. The homography between the two planar surfaces is also computed.

Parameters

I	: The gray scaled image where the points are computed.
iP	: the top left corner of the rectangle defining the ROI
height	: the height of the ROI
width	: the width of the ROI

Returns: true if the surface has been found.

Definition at line 334 of file vpPlanarObjectDetector.cpp.

References vpImageTools::createSubImage(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), matchPoint(), vpImageException::notInTheImage, and vpTRACE.

bool vpPlanarObjectDetector::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpRect	rectangle
	)

Compute the points of interest in the specified region of the current image and try to recognise them using the trained classifier. The matched pairs can be found with the getMatchedPointByRef function. The homography between the two planar surfaces is also computed.

Parameters

I	: The gray scaled image where the points are computed.
rectangle	: The rectangle defining the ROI.

Returns: True if the surface has been found.

Definition at line 366 of file vpPlanarObjectDetector.cpp.

References vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), vpRect::getWidth(), matchPoint(), vpImagePoint::set_i(), and vpImagePoint::set_j().

void vpPlanarObjectDetector::recordDetector	(	const std::string &	objectName,
		const std::string &	dataFile
	)

Record the Ferns classifier in the text file.

Parameters

objectName	: The name of the object to store in the data file.
dataFile	: The name of the data filename (very large text file). It can have any file extension.

Examples:: planarObjectDetector.cpp.

Definition at line 467 of file vpPlanarObjectDetector.cpp.

References fern, and vpFernClassifier::record().

void vpPlanarObjectDetector::setMinNbPointValidation ( const unsigned int _min )

inline

Set the threshold for the minimal number of point to validate the homography. Default value is 10.

Parameters

_min	: the new threshold.

Definition at line 259 of file vpPlanarObjectDetector.h.

Member Data Documentation

std::vector<vpImagePoint> vpPlanarObjectDetector::currentImagePoints

protected

Vector of the image point in the current image that match after the deletion of the outliers with the RANSAC.

Definition at line 166 of file vpPlanarObjectDetector.h.

Referenced by display(), getMatchedPoints(), and matchPoint().

std::vector<cv::Point2f> vpPlanarObjectDetector::dst_corners

protected

The estimated new coordinates of the corners (reprojected using the homography).

Definition at line 154 of file vpPlanarObjectDetector.h.

Referenced by display(), getDetectedCorners(), and matchPoint().

vpFernClassifier vpPlanarObjectDetector::fern

protected

Fern Classifier used to match the points between a reference image and the current image.

Definition at line 146 of file vpPlanarObjectDetector.h.

Referenced by buildReference(), load(), matchPoint(), and recordDetector().

cv::Mat vpPlanarObjectDetector::H

protected

Computed homography in the OpenCV format.

Definition at line 151 of file vpPlanarObjectDetector.h.

Referenced by matchPoint().

vpHomography vpPlanarObjectDetector::homography

protected

Computed homography in the ViSP format.

Definition at line 149 of file vpPlanarObjectDetector.h.

Referenced by matchPoint().

bool vpPlanarObjectDetector::isCorrect

protected

Flag to indicate wether the last computed homography is correct or not.

Definition at line 157 of file vpPlanarObjectDetector.h.

Referenced by matchPoint().

unsigned int vpPlanarObjectDetector::minNbMatching

protected

Minimal number of point to after the ransac needed to suppose that the homography has been correctly computed.

Definition at line 171 of file vpPlanarObjectDetector.h.

Referenced by matchPoint().

cv::Rect vpPlanarObjectDetector::modelROI

protected

The ROI for the reference image.

Definition at line 163 of file vpPlanarObjectDetector.h.

Referenced by buildReference(), display(), load(), and matchPoint().

std::vector<cv::Point2f> vpPlanarObjectDetector::ref_corners

protected

The corners in the reference image.

Definition at line 160 of file vpPlanarObjectDetector.h.

Referenced by initialiseRefCorners(), and matchPoint().

std::vector<vpImagePoint> vpPlanarObjectDetector::refImagePoints

protected

Vector of the image point in the reference image that match after the deletion of the outliers with the RANSAC.

Definition at line 168 of file vpPlanarObjectDetector.h.

Referenced by display(), getMatchedPoints(), getReferencePoint(), and matchPoint().

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation