Visual Servoing Platform  version 3.5.1 under development (2022-10-02)
vpFernClassifier.h
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30  *
31  * Description:
32  * Class that implements the Fern classifier and the YAPE detector thanks
33  * to the OpenCV library.
34  *
35  * Authors:
36  * Romain Tallonneau
37  *
38  *****************************************************************************/
39 
40 #ifndef vpFernClassifier_H
41 #define vpFernClassifier_H
42 
43 #include <visp3/core/vpConfig.h>
44 
45 #include <string>
46 
47 #if (VISP_HAVE_OPENCV_VERSION >= 0x020000) && \
48  (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.0.0 and < 3.0.0
49 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
50 #include <opencv2/features2d/features2d.hpp>
51 #include <opencv2/imgproc/imgproc.hpp>
52 #include <opencv2/legacy/legacy.hpp>
53 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020000) // Require opencv >= 2.0.0
54 #include <cv.h>
55 #include <cvaux.hpp>
56 #endif
57 
58 #include <visp3/vision/vpBasicKeyPoint.h>
59 
174 class VISP_EXPORT vpFernClassifier : public vpBasicKeyPoint
175 {
176 protected:
178  cv::LDetector ldetector;
179 
181  cv::FernClassifier fernClassifier;
182 
184  cv::PatchGenerator gen;
185 
187  bool hasLearn;
188 
189  /* parameters for the key-points detector and the classifier */
191  int threshold;
193  int nbView;
195  int dist;
197  int nbClassfier;
199  int ClassifierSize;
201  int nbOctave;
203  int patchSize;
205  int radius;
207  int nbPoints;
208 
209  /* parameters for the filter */
212  bool blurImage;
214  int radiusBlur;
216  int sigmaBlur;
217 
220  unsigned int nbMinPoint;
221 
223 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
224  cv::Mat curImg;
225 #else
226  IplImage *curImg;
227 #endif
228 
230  std::vector<cv::KeyPoint> objKeypoints;
232  cv::Rect modelROI_Ref;
234  cv::Rect modelROI;
236  std::vector<cv::KeyPoint> modelPoints;
238  std::vector<cv::KeyPoint> imgKeypoints;
240  std::vector<cv::Point2f> refPt, curPt;
241 
242 public:
243  vpFernClassifier();
244  vpFernClassifier(const std::string &_dataFile, const std::string &_objectName);
245  virtual ~vpFernClassifier();
246 
247  /* build reference */
248  virtual unsigned int buildReference(const vpImage<unsigned char> &I);
249  virtual unsigned int buildReference(const vpImage<unsigned char> &_I, const vpImagePoint &_iP, unsigned int _height,
250  unsigned int _width);
251  virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
252 
253  /* matching */
254  virtual unsigned int matchPoint(const vpImage<unsigned char> &I);
255  virtual unsigned int matchPoint(const vpImage<unsigned char> &_I, const vpImagePoint &_iP, unsigned int _height,
256  unsigned int _width);
257  virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
258 
259  /* display */
260  virtual void display(const vpImage<unsigned char> &Iref, const vpImage<unsigned char> &Icurrent,
261  unsigned int size = 3);
262  virtual void display(const vpImage<unsigned char> &Icurrent, unsigned int size = 3,
263  const vpColor &color = vpColor::green);
264 
265  /* io methods */
266  void load(const std::string &_dataFile, const std::string & /*_objectName*/);
267  void record(const std::string &_objectName, const std::string &_dataFile);
268 
269  /* accessors */
276  inline void setBlurSetting(const bool _blur) { blurImage = _blur; }
277  inline void setBlurSettings(const bool _blur, int _sigma, int _size);
278 
286  inline bool getBlurSetting() { return blurImage; }
287 
293  inline int getBlurSigma() { return this->sigmaBlur; }
294 
300  inline int getBlurSize() { return this->radiusBlur; }
301 
307  const std::vector<cv::Point2f> &getRefPt() const { return refPt; }
308 
314  const std::vector<cv::Point2f> &getCurPt() const { return curPt; }
315 
319  cv::Rect getModelROI() const { return modelROI; }
320 
321 protected:
322  void setImage(const vpImage<unsigned char> &I);
323  void train();
324  virtual void init();
325 };
326 
327 #endif /* opencv ver > 2.0.0 */
328 
329 #endif
class that defines what is a Keypoint. This class provides all the basic elements to implement classe...
virtual unsigned int buildReference(const vpImage< unsigned char > &I)=0
virtual unsigned int matchPoint(const vpImage< unsigned char > &I)=0
virtual void display(const vpImage< unsigned char > &Iref, const vpImage< unsigned char > &Icurrent, unsigned int size=3)=0
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor green
Definition: vpColor.h:220
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
Defines a rectangle in the plane.
Definition: vpRect.h:80