apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
117 lines
4.2 KiB
C++
117 lines
4.2 KiB
C++
/*
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef FINDOBJECT_H_
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#define FINDOBJECT_H_
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#include <find_object/Header.h>
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#include "find_object/FindObjectExp.h" // DLL export/import defines
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#include "find_object/DetectionInfo.h"
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#include "find_object/Settings.h"
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#include <QtCore/QObject>
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#include <QtCore/QString>
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#include <QtCore/QMap>
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#include <QtCore/QMultiMap>
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#include <QtCore/QPair>
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#include <QtCore/QVector>
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#include <QtGui/QTransform>
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#include <QtCore/QRect>
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#include <opencv2/opencv.hpp>
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#include <vector>
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namespace find_object {
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class ObjSignature;
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class Vocabulary;
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class Feature2D;
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class FINDOBJECT_EXP FindObject : public QObject
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{
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Q_OBJECT;
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public:
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static void affineSkew(float tilt,
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float phi,
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const cv::Mat & image,
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cv::Mat & skewImage,
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cv::Mat & skewMask,
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cv::Mat & Ai);
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public:
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FindObject(bool keepImagesInRAM_ = true, QObject * parent = 0);
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virtual ~FindObject();
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bool loadSession(const QString & path, const ParametersMap & customParameters = ParametersMap());
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bool saveSession(const QString & path);
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bool isSessionModified() const {return sessionModified_;}
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bool saveVocabulary(const QString & filePath) const;
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bool loadVocabulary(const QString & filePath);
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int loadObjects(const QString & dirPath, bool recursive = false); // call updateObjects()
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const ObjSignature * addObject(const QString & filePath);
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const ObjSignature * addObject(const cv::Mat & image, int id=0, const QString & filePath = QString());
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bool addObject(ObjSignature * obj); // take ownership when true is returned
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void removeObject(int id);
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void removeAllObjects();
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bool detect(const cv::Mat & image, find_object::DetectionInfo & info) const;
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void updateDetectorExtractor();
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void updateObjects(const QList<int> & ids = QList<int>());
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void updateVocabulary(const QList<int> & ids = QList<int>());
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const QMap<int, ObjSignature*> & objects() const {return objects_;}
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const Vocabulary * vocabulary() const {return vocabulary_;}
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public Q_SLOTS:
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void addObjectAndUpdate(const cv::Mat & image, int id=0, const QString & filePath = QString());
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void removeObjectAndUpdate(int id);
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void detect(const cv::Mat & image); // emit objectsFound()
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void detect(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant); // emit objectsFound()
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Q_SIGNALS:
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void objectsFound(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float);
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private:
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void clearVocabulary();
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private:
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QMap<int, ObjSignature*> objects_;
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Vocabulary * vocabulary_;
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QMap<int, cv::Mat> objectsDescriptors_;
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QMap<int, int> dataRange_; // <last id of object's descriptor, id>
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Feature2D * detector_;
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Feature2D * extractor_;
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bool sessionModified_;
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bool keepImagesInRAM_;
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};
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} // namespace find_object
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#endif /* FINDOBJECT_H_ */
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