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Visual Servoing Platform
version 3.3.0
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39 #ifndef VPPLANAROBJECTDETECTOR_H_
40 #define VPPLANAROBJECTDETECTOR_H_
42 #include <visp3/core/vpConfig.h>
44 #if (VISP_HAVE_OPENCV_VERSION >= 0x020000) && \
45 (VISP_HAVE_OPENCV_VERSION < 0x030000) // Require opencv >= 2.0.0 and < 3.0.0
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
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>
195 void recordDetector(
const std::string &objectName,
const std::string &dataFile);
196 void load(
const std::string &dataFilename,
const std::string &objName);
208 std::vector<vpImagePoint> getDetectedCorners()
const;
230 inline unsigned int getNbRefPoints() {
return (
unsigned int)currentImagePoints.size(); }
240 void getReferencePoint(
const unsigned int _i,
vpImagePoint &_imPoint);
274 void initialiseRefCorners(
const cv::Rect &_modelROI);
bool isCorrect
Flag to indicate wether the last computed homography is correct or not.
unsigned int getMinNbPointValidation() const
unsigned int minNbMatching
vpHomography homography
Computed homography in the ViSP format.
void getHomography(vpHomography &_H) const
Class used to detect a planar surface.
Class that implements the Fern classifier and the YAPE detector thanks to the OpenCV library.
std::vector< vpImagePoint > refImagePoints
unsigned int getNbRefPoints()
vpFernClassifier & getFernClassifier()
std::vector< cv::Point2f > ref_corners
The corners in the reference image.
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 ...
std::vector< cv::Point2f > dst_corners
cv::Rect modelROI
The ROI for the reference image.
std::vector< vpImagePoint > currentImagePoints
void setMinNbPointValidation(const unsigned int _min)
Defines a rectangle in the plane.
cv::Mat H
Computed homography in the OpenCV format.