Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpPlanarObjectDetector.h
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15  * Edition License.
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20  * Inria Rennes - Bretagne Atlantique
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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 
141 class VISP_EXPORT vpPlanarObjectDetector
142 {
143 protected:
146  vpFernClassifier fern;
147 
149  vpHomography homography;
151  cv::Mat H;
152 
155  std::vector<cv::Point2f> dst_corners;
156 
158  bool isCorrect;
159 
161  std::vector<cv::Point2f> ref_corners;
162 
164  cv::Rect modelROI;
165 
168  std::vector<vpImagePoint> currentImagePoints;
171  std::vector<vpImagePoint> refImagePoints;
172 
175  unsigned int minNbMatching;
176 
177 public:
178  // constructors and destructors
179  vpPlanarObjectDetector();
180  vpPlanarObjectDetector(const std::string &dataFile, const std::string &objectName);
181  virtual ~vpPlanarObjectDetector();
182 
183  // main functions
184  // creation of reference
185  unsigned int buildReference(const vpImage<unsigned char> &I);
186  unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
187  unsigned int width);
188  unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
189 
190  // matching
191  bool matchPoint(const vpImage<unsigned char> &I);
192  bool matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, const unsigned int height,
193  const unsigned int width);
194  bool matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
195  // database management
196  void recordDetector(const std::string &objectName, const std::string &dataFile);
197  void load(const std::string &dataFilename, const std::string &objName);
198 
199  // display
200  void display(vpImage<unsigned char> &I, bool displayKpts = false);
201  void display(vpImage<unsigned char> &Iref, vpImage<unsigned char> &Icurrent, bool displayKpts = false);
202 
209  std::vector<vpImagePoint> getDetectedCorners() const;
210 
216  vpFernClassifier &getFernClassifier() { return this->fern; }
217 
224  inline void getHomography(vpHomography &_H) const { _H = this->homography; }
225 
231  inline unsigned int getNbRefPoints() { return (unsigned int)currentImagePoints.size(); }
232 
241  void getReferencePoint(const unsigned int _i, vpImagePoint &_imPoint);
242 
254  void getMatchedPoints(const unsigned int _index, vpImagePoint &_referencePoint, vpImagePoint &_currentPoint);
255 
262  void setMinNbPointValidation(const unsigned int _min) { this->minNbMatching = _min; }
263 
270  unsigned int getMinNbPointValidation() const { return this->minNbMatching; }
271 
272 protected:
273  virtual void init();
274  void computeRoi(vpImagePoint *ip, const unsigned int nbpt);
275  void initialiseRefCorners(const cv::Rect &_modelROI);
276 };
277 
278 #endif
279 
280 #endif /* VPPLANAROBJECTDETECTOR_H_ */
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:158
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:174
Defines a rectangle in the plane.
Definition: vpRect.h:78
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88