Visual Servoing Platform  version 3.5.1 under development (2022-10-02)
vpPlanarObjectDetector.h
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3  * ViSP, open source Visual Servoing Platform software.
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15  * Edition License.
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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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 
140 class VISP_EXPORT vpPlanarObjectDetector
141 {
142 protected:
145  vpFernClassifier fern;
146 
148  vpHomography homography;
150  cv::Mat H;
151 
154  std::vector<cv::Point2f> dst_corners;
155 
157  bool isCorrect;
158 
160  std::vector<cv::Point2f> ref_corners;
161 
163  cv::Rect modelROI;
164 
167  std::vector<vpImagePoint> currentImagePoints;
170  std::vector<vpImagePoint> refImagePoints;
171 
174  unsigned int minNbMatching;
175 
176 public:
177  // constructors and destructors
178  vpPlanarObjectDetector();
179  vpPlanarObjectDetector(const std::string &dataFile, const std::string &objectName);
180  virtual ~vpPlanarObjectDetector();
181 
182  // main functions
183  // creation of reference
184  unsigned int buildReference(const vpImage<unsigned char> &I);
185  unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
186  unsigned int width);
187  unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
188 
189  // matching
190  bool matchPoint(const vpImage<unsigned char> &I);
191  bool matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height, unsigned int width);
192  bool matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
193  // database management
194  void recordDetector(const std::string &objectName, const std::string &dataFile);
195  void load(const std::string &dataFilename, const std::string &objName);
196 
197  // display
198  void display(vpImage<unsigned char> &I, bool displayKpts = false);
199  void display(vpImage<unsigned char> &Iref, vpImage<unsigned char> &Icurrent, bool displayKpts = false);
200 
207  std::vector<vpImagePoint> getDetectedCorners() const;
208 
214  vpFernClassifier &getFernClassifier() { return this->fern; }
215 
222  inline void getHomography(vpHomography &_H) const { _H = this->homography; }
223 
229  inline unsigned int getNbRefPoints() { return (unsigned int)currentImagePoints.size(); }
230 
239  void getReferencePoint(const unsigned int _i, vpImagePoint &_imPoint);
240 
252  void getMatchedPoints(const unsigned int _index, vpImagePoint &_referencePoint, vpImagePoint &_currentPoint);
253 
260  void setMinNbPointValidation(const unsigned int _min) { this->minNbMatching = _min; }
261 
268  unsigned int getMinNbPointValidation() const { return this->minNbMatching; }
269 
270 protected:
271  virtual void init();
272  void computeRoi(vpImagePoint *ip, unsigned int nbpt);
273  void initialiseRefCorners(const cv::Rect &_modelROI);
274 };
275 
276 #endif
277 
278 #endif /* VPPLANAROBJECTDETECTOR_H_ */
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:293
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
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