Visual Servoing Platform version 3.6.0
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vpPlanarObjectDetector.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Planar surface detection tool.
32 */
33
34#ifndef _vpPlanarObjectDetector_h_
35#define _vpPlanarObjectDetector_h_
36
37#include <visp3/core/vpConfig.h>
38
39#if (VISP_HAVE_OPENCV_VERSION >= 0x020408) && \
40 (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.4.8 and < 3.0.0
41
42#include <opencv2/calib3d/calib3d.hpp>
43#include <opencv2/features2d/features2d.hpp>
44#include <opencv2/imgproc/imgproc.hpp>
45
46#include <visp3/core/vpCameraParameters.h>
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/core/vpImage.h>
49#include <visp3/core/vpImagePoint.h>
50#include <visp3/core/vpPoint.h>
51#include <visp3/core/vpRect.h>
52#include <visp3/vision/vpFernClassifier.h>
53#include <visp3/vision/vpHomography.h>
54
130class VISP_EXPORT vpPlanarObjectDetector
131{
132protected:
135 vpFernClassifier fern;
136
138 vpHomography homography;
140 cv::Mat H;
141
144 std::vector<cv::Point2f> dst_corners;
145
147 bool isCorrect;
148
150 std::vector<cv::Point2f> ref_corners;
151
153 cv::Rect modelROI;
154
157 std::vector<vpImagePoint> currentImagePoints;
160 std::vector<vpImagePoint> refImagePoints;
161
164 unsigned int minNbMatching;
165
166public:
167 // constructors and destructors
168 vpPlanarObjectDetector();
169 vpPlanarObjectDetector(const std::string &dataFile, const std::string &objectName);
170 virtual ~vpPlanarObjectDetector();
171
172 // main functions
173 // creation of reference
174 unsigned int buildReference(const vpImage<unsigned char> &I);
175 unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
176 unsigned int width);
177 unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
178
179 // matching
180 bool matchPoint(const vpImage<unsigned char> &I);
181 bool matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height, unsigned int width);
182 bool matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
183 // database management
184 void recordDetector(const std::string &objectName, const std::string &dataFile);
185 void load(const std::string &dataFilename, const std::string &objName);
186
187 // display
188 void display(vpImage<unsigned char> &I, bool displayKpts = false);
189 void display(vpImage<unsigned char> &Iref, vpImage<unsigned char> &Icurrent, bool displayKpts = false);
190
197 std::vector<vpImagePoint> getDetectedCorners() const;
198
204 vpFernClassifier &getFernClassifier() { return this->fern; }
205
212 inline void getHomography(vpHomography &_H) const { _H = this->homography; }
213
219 inline unsigned int getNbRefPoints() { return (unsigned int)currentImagePoints.size(); }
220
229 void getReferencePoint(const unsigned int _i, vpImagePoint &_imPoint);
230
242 void getMatchedPoints(const unsigned int _index, vpImagePoint &_referencePoint, vpImagePoint &_currentPoint);
243
250 void setMinNbPointValidation(const unsigned int _min) { this->minNbMatching = _min; }
251
258 unsigned int getMinNbPointValidation() const { return this->minNbMatching; }
259
260protected:
261 virtual void init();
262 void computeRoi(vpImagePoint *ip, unsigned int nbpt);
263 void initialiseRefCorners(const cv::Rect &_modelROI);
264};
265
266#endif
267
268#endif /* VPPLANAROBJECTDETECTOR_H_ */
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
Implementation of an homography and operations on homographies.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
Defines a rectangle in the plane.
Definition vpRect.h:76