vpPlanarObjectDetector.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://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.
 *
 * Authors:
 * Romain Tallonneau
 *
 *****************************************************************************/

#ifndef VPPLANAROBJECTDETECTOR_H_
#define VPPLANAROBJECTDETECTOR_H_

#include <visp3/core/vpConfig.h>

#if (VISP_HAVE_OPENCV_VERSION >= 0x020000) && (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.0.0 and < 3.0.0

#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
#  include <opencv2/imgproc/imgproc.hpp>
#  include <opencv2/features2d/features2d.hpp>
#  include <opencv2/calib3d/calib3d.hpp>
#elif (VISP_HAVE_OPENCV_VERSION >= 0x020000) // Require opencv >= 2.0.0
#  include <cv.h>
#  include <cvaux.hpp>
#endif

#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpRect.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/vision/vpHomography.h>
#include <visp3/vision/vpFernClassifier.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, const unsigned int height, const 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, const unsigned int nbpt);
  void initialiseRefCorners(const cv::Rect& _modelROI);
};

#endif

#endif /* VPPLANAROBJECTDETECTOR_H_ */