vpFernClassifier.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 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:
 * Class that implements the Fern classifier and the YAPE detector thanks
 * to the OpenCV library.
 *
 * Authors:
 * Romain Tallonneau
 *
 *****************************************************************************/

#ifndef vpFernClassifier_H
#define vpFernClassifier_H

#include <visp3/core/vpConfig.h>

#include <string>

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

#include <visp3/vision/vpBasicKeyPoint.h>

class VISP_EXPORT vpFernClassifier : public vpBasicKeyPoint
{
protected:
  cv::LDetector ldetector;

  cv::FernClassifier fernClassifier;

  cv::PatchGenerator gen;

  bool hasLearn;

  /* parameters for the key-points detector and the classifier */
  int threshold;
  int nbView;
  int dist;
  int nbClassfier;
  int ClassifierSize;
  int nbOctave;
  int patchSize;
  int radius;
  int nbPoints;

  /* parameters for the filter */
  bool blurImage;
  int radiusBlur;
  int sigmaBlur;

  unsigned int nbMinPoint;

#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
  cv::Mat curImg;
#else
  IplImage *curImg;
#endif

  std::vector<cv::KeyPoint> objKeypoints;
  cv::Rect modelROI_Ref;
  cv::Rect modelROI;
  std::vector<cv::KeyPoint> modelPoints;
  std::vector<cv::KeyPoint> imgKeypoints;
  std::vector<cv::Point2f> refPt, curPt;

public:
  vpFernClassifier();
  vpFernClassifier(const std::string &_dataFile, const std::string &_objectName);
  virtual ~vpFernClassifier();

  /* build reference */
  virtual unsigned int buildReference(const vpImage<unsigned char> &I);
  virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP,
                                      const unsigned int height, const unsigned int width);
  virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);

  /* matching */
  virtual unsigned int matchPoint(const vpImage<unsigned char> &I);
  virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, const unsigned int height,
                                  const unsigned int width);
  virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);

  /* display */
  virtual void display(const vpImage<unsigned char> &Iref, const vpImage<unsigned char> &Icurrent,
                       unsigned int size = 3);
  virtual void display(const vpImage<unsigned char> &Icurrent, unsigned int size = 3,
                       const vpColor &color = vpColor::green);

  /* io methods */
  void load(const std::string &_dataFile, const std::string & /*_objectName*/);
  void record(const std::string &_objectName, const std::string &_dataFile);

  /* accessors */
  inline void setBlurSetting(const bool _blur) { blurImage = _blur; }
  inline void setBlurSettings(const bool _blur, int _sigma, int _size);

  inline bool getBlurSetting() { return blurImage; }

  inline int getBlurSigma() { return this->sigmaBlur; }

  inline int getBlurSize() { return this->radiusBlur; }

  const std::vector<cv::Point2f> &getRefPt() const { return refPt; }

  const std::vector<cv::Point2f> &getCurPt() const { return curPt; }

  cv::Rect getModelROI() const { return modelROI; }

protected:
  void setImage(const vpImage<unsigned char> &I);
  void train();
  virtual void init();
};

#endif /* opencv ver > 2.0.0 */

#endif