Visual Servoing Platform version 3.6.0
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vpFernClassifier.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 * Class that implements the Fern classifier and the YAPE detector thanks
32 * to the OpenCV library.
33 */
34
35#ifndef vpFernClassifier_H
36#define vpFernClassifier_H
37
38#include <visp3/core/vpConfig.h>
39
40#include <string>
41
42#if (VISP_HAVE_OPENCV_VERSION >= 0x020408) && \
43 (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.4.8 and < 3.0.0
44#include <opencv2/features2d/features2d.hpp>
45#include <opencv2/imgproc/imgproc.hpp>
46#include <opencv2/legacy/legacy.hpp>
47
48#include <visp3/vision/vpBasicKeyPoint.h>
49
164class VISP_EXPORT vpFernClassifier : public vpBasicKeyPoint
165{
166protected:
168 cv::LDetector ldetector;
169
171 cv::FernClassifier fernClassifier;
172
174 cv::PatchGenerator gen;
175
177 bool hasLearn;
178
179 /* parameters for the key-points detector and the classifier */
181 int threshold;
183 int nbView;
185 int dist;
187 int nbClassfier;
189 int ClassifierSize;
191 int nbOctave;
193 int patchSize;
195 int radius;
197 int nbPoints;
198
199 /* parameters for the filter */
202 bool blurImage;
204 int radiusBlur;
206 int sigmaBlur;
207
210 unsigned int nbMinPoint;
211
213 cv::Mat curImg;
214
216 std::vector<cv::KeyPoint> objKeypoints;
218 cv::Rect modelROI_Ref;
220 cv::Rect modelROI;
222 std::vector<cv::KeyPoint> modelPoints;
224 std::vector<cv::KeyPoint> imgKeypoints;
226 std::vector<cv::Point2f> refPt, curPt;
227
228public:
229 vpFernClassifier();
230 vpFernClassifier(const std::string &_dataFile, const std::string &_objectName);
231 virtual ~vpFernClassifier();
232
233 /* build reference */
234 virtual unsigned int buildReference(const vpImage<unsigned char> &I);
235 virtual unsigned int buildReference(const vpImage<unsigned char> &_I, const vpImagePoint &_iP, unsigned int _height,
236 unsigned int _width);
237 virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
238
239 /* matching */
240 virtual unsigned int matchPoint(const vpImage<unsigned char> &I);
241 virtual unsigned int matchPoint(const vpImage<unsigned char> &_I, const vpImagePoint &_iP, unsigned int _height,
242 unsigned int _width);
243 virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
244
245 /* display */
246 virtual void display(const vpImage<unsigned char> &Iref, const vpImage<unsigned char> &Icurrent,
247 unsigned int size = 3);
248 virtual void display(const vpImage<unsigned char> &Icurrent, unsigned int size = 3,
249 const vpColor &color = vpColor::green);
250
251 /* io methods */
252 void load(const std::string &_dataFile, const std::string & /*_objectName*/);
253 void record(const std::string &_objectName, const std::string &_dataFile);
254
255 /* accessors */
262 inline void setBlurSetting(const bool _blur) { blurImage = _blur; }
263 inline void setBlurSettings(const bool _blur, int _sigma, int _size);
264
272 inline bool getBlurSetting() { return blurImage; }
273
279 inline int getBlurSigma() { return this->sigmaBlur; }
280
286 inline int getBlurSize() { return this->radiusBlur; }
287
293 const std::vector<cv::Point2f> &getRefPt() const { return refPt; }
294
300 const std::vector<cv::Point2f> &getCurPt() const { return curPt; }
301
305 cv::Rect getModelROI() const { return modelROI; }
306
307protected:
308 void setImage(const vpImage<unsigned char> &I);
309 void train();
310 virtual void init();
311};
312
313#endif /* opencv ver > 2.0.0 */
314
315#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 functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
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