#include <vpKeyPoint.h>

Inheritance diagram for vpKeyPoint:

Public Types
enum	vpFilterMatchingType { constantFactorDistanceThreshold, stdDistanceThreshold, ratioDistanceThreshold, stdAndRatioDistanceThreshold, noFilterMatching }

enum	vpDetectionMethodType { detectionThreshold, detectionScore }

Public Member Functions
	vpKeyPoint (const std::string &detectorName="ORB", const std::string &extractorName="ORB", const std::string &matcherName="BruteForce-Hamming", const vpFilterMatchingType &filterType=ratioDistanceThreshold)

	vpKeyPoint (const std::vector< std::string > &detectorNames, const std::vector< std::string > &extractorNames, const std::string &matcherName="BruteForce", const vpFilterMatchingType &filterType=ratioDistanceThreshold)

unsigned int	buildReference (const vpImage< unsigned char > &I)

unsigned int	buildReference (const vpImage< unsigned char > &I, const vpImagePoint &iP, const unsigned int height, const unsigned int width)

unsigned int	buildReference (const vpImage< unsigned char > &I, const vpRect &rectangle)

void	buildReference (const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &trainKeyPoint, std::vector< cv::Point3f > &points3f, bool append=false)

void	buildReference (const vpImage< unsigned char > &I, const std::vector< cv::KeyPoint > &trainKeyPoint, const cv::Mat &trainDescriptors, const std::vector< cv::Point3f > &points3f, bool append=false)

bool	computePose (const std::vector< cv::Point2f > &imagePoints, const std::vector< cv::Point3f > &objectPoints, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, std::vector< int > &inlierIndex, double &elapsedTime, bool(func)(vpHomogeneousMatrix )=NULL)

bool	computePose (const std::vector< vpPoint > &objectVpPoints, vpHomogeneousMatrix &cMo, std::vector< vpPoint > &inliers, double &elapsedTime, bool(func)(vpHomogeneousMatrix )=NULL)

void	createImageMatching (vpImage< unsigned char > &IRef, vpImage< unsigned char > &ICurrent, vpImage< unsigned char > &IMatching)

void	createImageMatching (vpImage< unsigned char > &ICurrent, vpImage< unsigned char > &IMatching)

void	detect (const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, double &elapsedTime, const vpRect &rectangle=vpRect())

void	detect (const cv::Mat &matImg, std::vector< cv::KeyPoint > &keyPoints, double &elapsedTime, const cv::Mat &mask=cv::Mat())

void	detectExtractAffine (const vpImage< unsigned char > &I, std::vector< std::vector< cv::KeyPoint > > &listOfKeypoints, std::vector< cv::Mat > &listOfDescriptors, std::vector< vpImage< unsigned char > > *listOfAffineI=NULL)

void	display (const vpImage< unsigned char > &IRef, const vpImage< unsigned char > &ICurrent, unsigned int size=3)

void	display (const vpImage< unsigned char > &ICurrent, unsigned int size=3, const vpColor &color=vpColor::green)

void	displayMatching (const vpImage< unsigned char > &IRef, vpImage< unsigned char > &IMatching, unsigned int crossSize, unsigned int lineThickness=1, const vpColor &color=vpColor::green)

void	displayMatching (const vpImage< unsigned char > &ICurrent, vpImage< unsigned char > &IMatching, const std::vector< vpImagePoint > &ransacInliers=std::vector< vpImagePoint >(), unsigned int crossSize=3, unsigned int lineThickness=1)

void	extract (const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, double &elapsedTime)

void	extract (const cv::Mat &matImg, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, double &elapsedTime)

vpMatrix	getCovarianceMatrix () const

double	getDetectionTime () const

double	getExtractionTime () const

double	getMatchingTime () const

std::vector< cv::DMatch >	getMatches () const

std::vector< std::pair< cv::KeyPoint, cv::KeyPoint > >	getMatchQueryToTrainKeyPoints () const

unsigned int	getNbImages () const

void	getObjectPoints (std::vector< cv::Point3f > &objectPoints) const

void	getObjectPoints (std::vector< vpPoint > &objectPoints) const

double	getPoseTime () const

cv::Mat	getQueryDescriptors () const

void	getQueryKeyPoints (std::vector< cv::KeyPoint > &keyPoints) const

void	getQueryKeyPoints (std::vector< vpImagePoint > &keyPoints) const

std::vector< vpImagePoint >	getRansacInliers () const

std::vector< vpImagePoint >	getRansacOutliers () const

cv::Mat	getTrainDescriptors () const

void	getTrainKeyPoints (std::vector< cv::KeyPoint > &keyPoints) const

void	getTrainKeyPoints (std::vector< vpImagePoint > &keyPoints) const

void	getTrainPoints (std::vector< cv::Point3f > &points) const

void	getTrainPoints (std::vector< vpPoint > &points) const

void	initMatcher (const std::string &matcherName)

void	insertImageMatching (const vpImage< unsigned char > &IRef, const vpImage< unsigned char > &ICurrent, vpImage< unsigned char > &IMatching)

void	insertImageMatching (const vpImage< unsigned char > &ICurrent, vpImage< unsigned char > &IMatching)

void	loadConfigFile (const std::string &configFile)

void	loadLearningData (const std::string &filename, const bool binaryMode=false, const bool append=false)

void	match (const cv::Mat &trainDescriptors, const cv::Mat &queryDescriptors, std::vector< cv::DMatch > &matches, double &elapsedTime)

unsigned int	matchPoint (const vpImage< unsigned char > &I)

unsigned int	matchPoint (const vpImage< unsigned char > &I, const vpImagePoint &iP, const unsigned int height, const unsigned int width)

unsigned int	matchPoint (const vpImage< unsigned char > &I, const vpRect &rectangle)

bool	matchPoint (const vpImage< unsigned char > &I, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, double &error, double &elapsedTime, bool(func)(vpHomogeneousMatrix )=NULL)

bool	matchPointAndDetect (const vpImage< unsigned char > &I, vpRect &boundingBox, vpImagePoint &centerOfGravity, const bool isPlanarObject=true, std::vector< vpImagePoint > imPts1=NULL, std::vector< vpImagePoint > imPts2=NULL, double meanDescriptorDistance=NULL, double detectionScore=NULL)

bool	matchPointAndDetect (const vpImage< unsigned char > &I, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, double &error, double &elapsedTime, vpRect &boundingBox, vpImagePoint &centerOfGravity, bool(func)(vpHomogeneousMatrix )=NULL)

void	saveLearningData (const std::string &filename, const bool binaryMode=false, const bool saveTrainingImages=true)

void	setCovarianceComputation (const bool &flag)

void	setDetectionMethod (const vpDetectionMethodType &method)

void	setDetector (const std::string &detectorName)

template<typename T1 , typename T2 , typename T3 >
void	setDetectorParameter (const T1 detectorName, const T2 parameterName, const T3 value)

void	setDetectors (const std::vector< std::string > &detectorNames)

void	setExtractor (const std::string &extractorName)

template<typename T1 , typename T2 , typename T3 >
void	setExtractorParameter (const T1 extractorName, const T2 parameterName, const T3 value)

void	setExtractors (const std::vector< std::string > &extractorNames)

void	setMatcher (const std::string &matcherName)

void	setFilterMatchingType (const vpFilterMatchingType &filterType)

void	setMatchingFactorThreshold (const double factor)

void	setMatchingRatioThreshold (const double ratio)

void	setRansacConsensusPercentage (const double percentage)

void	setRansacIteration (const int nbIter)

void	setRansacReprojectionError (const double reprojectionError)

void	setRansacMinInlierCount (const int minCount)

void	setRansacThreshold (const double threshold)

void	setUseAffineDetection (const bool useAffine)

void	setUseBruteForceCrossCheck (const bool useCrossCheck)

void	setUseRansacConsensusPercentage (const bool usePercentage)

void	setUseRansacVVS (const bool ransacVVS)

bool	referenceBuilt () const

const vpImagePoint *	getAllPointsInReferenceImage ()

void	getReferencePoint (const unsigned int index, vpImagePoint &referencePoint)

void	getMatchedPoints (const unsigned int index, vpImagePoint &referencePoint, vpImagePoint &currentPoint)

unsigned int	getIndexInAllReferencePointList (const unsigned int indexInMatchedPointList)

unsigned int	getReferencePointNumber () const

unsigned int	getMatchedPointNumber () const

const std::vector< vpImagePoint > &	getReferenceImagePointsList () const

const std::vector< vpImagePoint > &	getCurrentImagePointsList () const

const std::vector< unsigned int > &	getMatchedReferencePoints () const

Static Public Member Functions
static void	compute3D (const cv::KeyPoint &candidate, const std::vector< vpPoint > &roi, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, cv::Point3f &point)

static void	compute3D (const vpImagePoint &candidate, const std::vector< vpPoint > &roi, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, vpPoint &point)

static void	compute3DForPointsInPolygons (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< cv::KeyPoint > &candidate, std::vector< vpPolygon > &polygons, std::vector< std::vector< vpPoint > > &roisPt, std::vector< cv::Point3f > &points, cv::Mat *descriptors=NULL)

static void	compute3DForPointsInPolygons (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< vpImagePoint > &candidate, std::vector< vpPolygon > &polygons, std::vector< std::vector< vpPoint > > &roisPt, std::vector< vpPoint > &points, cv::Mat *descriptors=NULL)

Protected Attributes
std::vector< vpImagePoint >	referenceImagePointsList

std::vector< vpImagePoint >	currentImagePointsList

std::vector< unsigned int >	matchedReferencePoints

bool	_reference_computed

Detailed Description

Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV library. This class permits to use different types of detectors, extractors and matchers easily. So, the classical SIFT and SURF keypoints could be used, as well as ORB, FAST, (etc.) keypoints, depending of the version of OpenCV you use.

Note: Due to some patents, SIFT and SURF are packaged in an external module called nonfree module in OpenCV version before 3.0.0 and in xfeatures2d from 3.0.0. You have to check you have the corresponding module to use SIFT and SURF.

The goal of this class is to provide a tool to match reference keypoints from a reference image (or train keypoints in OpenCV terminology) and detected keypoints from a current image (or query keypoints in OpenCV terminology).

If you supply the corresponding 3D coordinates corresponding to the 2D coordinates of the reference keypoints, you can also estimate the pose of the object by matching a set of detected keypoints in the current image with the reference keypoints.

If you use this class, the first thing you have to do is to build the reference keypoints by detecting keypoints in a reference image which contains the object to detect. Then you match keypoints detected in a current image with those detected in a reference image by calling matchPoint() methods. You can access to the lists of matched points thanks to the methods getMatchedPointsInReferenceImage() and getMatchedPointsInCurrentImage(). These two methods return a list of matched points. The nth element of the first list is matched with the nth element of the second list. To provide easy compatibility with OpenCV terminology, getTrainKeyPoints() give you access to the list of keypoints detected in train images (or reference images) and getQueryKeyPoints() give you access to the list of keypoints detected in a query image (or current image). The method getMatches() give you access to a list of cv::DMatch with the correspondence between the index of the train keypoints and the index of the query keypoints.

The following small example shows how to use the class to do the matching between current and reference keypoints.

#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpKeyPoint.h>
int main()
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020300)
  vpImage<unsigned char> Irefrence;
  vpImage<unsigned char> Icurrent;
  vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
  vpKeyPoint keypoint("ORB", "ORB", "BruteForce-Hamming", filterType);
  // First grab the reference image Irefrence
  // Add your code to load the reference image in Ireference
  // Build the reference ORB points.
  keypoint.buildReference(Irefrence);
  // Then grab another image which represents the current image Icurrent
  // Match points between the reference points and the ORB points computed in the current image.
  keypoint.matchPoint(Icurrent);
  // Display the matched points
  keypoint.display(Irefrence, Icurrent);
#endif
  return (0);
}

It is also possible to build the reference keypoints in a region of interest (ROI) of an image and find keypoints to match in only a part of the current image. The small following example shows how to do this:

#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpKeyPoint.h>
int main()
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020300)
  vpImage<unsigned char> Ireference;
  vpImage<unsigned char> Icurrent;
  vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
  vpKeyPoint keypoint("ORB", "ORB", "BruteForce-Hamming", filterType);
  //First grab the reference image Irefrence
  //Add your code to load the reference image in Ireference
  //Select a part of the image by clincking on two points which define a rectangle
  vpImagePoint corners[2];
  for (int i=0 ; i < 2 ; i++)
  {
    vpDisplay::getClick(Ireference, corners[i]);
  }
  //Build the reference ORB points.
  int nbrRef;
  unsigned int height, width;
  height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
  width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
  nbrRef = keypoint.buildReference(Ireference, corners[0], height, width);
  //Then grab another image which represents the current image Icurrent
  //Select a part of the image by clincking on two points which define a rectangle
  for (int i=0 ; i < 2 ; i++)
  {
    vpDisplay::getClick(Icurrent, corners[i]);
  }
  //Match points between the reference points and the ORB points computed in the current image.
  int nbrMatched;
  height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
  width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
  nbrMatched = keypoint.matchPoint(Icurrent, corners[0], height, width);
  //Display the matched points
  keypoint.display(Ireference, Icurrent);
#endif
  return(0);
}

This class is also described in Tutorial: Keypoints matching.

Examples:: tutorial-detection-object-mbt.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, and tutorial-matching-keypoint.cpp.

Definition at line 212 of file vpKeyPoint.h.

Member Enumeration Documentation

enum vpKeyPoint::vpDetectionMethodType

Predefined detection method identifier.

Enumerator
detectionThreshold	The object is present if the average of the descriptor distances is below the threshold.
detectionScore	Same condition than the previous but with a formula taking into account the number of matches, the object is present if the score is above the threshold.

Definition at line 226 of file vpKeyPoint.h.

enum vpKeyPoint::vpFilterMatchingType

Predefined filtering method identifier.

Enumerator
constantFactorDistanceThreshold	Keep all the points below a constant factor threshold.
stdDistanceThreshold	Keep all the points below a minimal distance + the standard deviation.
ratioDistanceThreshold	Keep all the points enough discriminated (the ratio distance between the two best matches is below the threshold).
stdAndRatioDistanceThreshold	Keep all the points which fall with the two conditions above.
noFilterMatching	No filtering.

Definition at line 217 of file vpKeyPoint.h.

Constructor & Destructor Documentation

vpKeyPoint::vpKeyPoint	(	const std::string &	detectorName = `"ORB"`,
		const std::string &	extractorName = `"ORB"`,
		const std::string &	matcherName = `"BruteForce-Hamming"`,
		const vpFilterMatchingType &	filterType = `ratioDistanceThreshold`
	)

Constructor to initialize specified detector, extractor, matcher and filtering method.

Parameters

detectorName	: Name of the detector.
extractorName	: Name of the extractor.
matcherName	: Name of the matcher.
filterType	: Filtering matching method chosen.

Definition at line 159 of file vpKeyPoint.cpp.

References ratioDistanceThreshold, and stdAndRatioDistanceThreshold.

vpKeyPoint::vpKeyPoint	(	const std::vector< std::string > &	detectorNames,
		const std::vector< std::string > &	extractorNames,
		const std::string &	matcherName = `"BruteForce"`,
		const vpFilterMatchingType &	filterType = `ratioDistanceThreshold`
	)

Constructor to initialize specified detector, extractor, matcher and filtering method.

Parameters

detectorNames	: List of name detector for allowing multiple detectors.
extractorNames	: List of name extractor for allowing multiple extractors.
matcherName	: Name of the matcher.
filterType	: Filtering matching method chosen.

Definition at line 194 of file vpKeyPoint.cpp.

References ratioDistanceThreshold, and stdAndRatioDistanceThreshold.

Member Function Documentation

unsigned int vpKeyPoint::buildReference ( const vpImage< unsigned char > & I )

virtual

Build the reference keypoints list.

Parameters

I	: Input reference image.

Returns: The number of detected keypoints in the image I.

Implements vpBasicKeyPoint.

Examples:: tutorial-detection-object-mbt.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, and tutorial-matching-keypoint.cpp.

Definition at line 281 of file vpKeyPoint.cpp.

Referenced by buildReference().

unsigned int vpKeyPoint::buildReference	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	iP,
		const unsigned int	height,
		const unsigned int	width
	)

virtual

Build the reference keypoints list in a region of interest in the image.

Parameters

I	: Input reference image
iP	: Position of the top-left corner of the region of interest.
height	: Height of the region of interest.
width	: Width of the region of interest.

Returns: The number of detected keypoints in the current image I.

Implements vpBasicKeyPoint.

Definition at line 294 of file vpKeyPoint.cpp.

References buildReference().

unsigned int vpKeyPoint::buildReference	(	const vpImage< unsigned char > &	I,
		const vpRect &	rectangle
	)

virtual

Build the reference keypoints list in a region of interest in the image.

Parameters

I	: Input image.
rectangle	: Rectangle of the region of interest.

Returns: The number of detected keypoints in the current image I.

Implements vpBasicKeyPoint.

Definition at line 308 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, vpConvert::convertFromOpenCV(), detect(), detectExtractAffine(), extract(), and vpBasicKeyPoint::referenceImagePointsList.

void vpKeyPoint::buildReference	(	const vpImage< unsigned char > &	I,
		std::vector< cv::KeyPoint > &	trainKeyPoints,
		std::vector< cv::Point3f > &	points3f,
		bool	append = `false`
	)

Build the reference keypoints list and compute the 3D position corresponding of the keypoints locations.

Parameters

I	: Input image
trainKeyPoints	: List of the train keypoints.
points3f	: Output list of the 3D position corresponding of the keypoints locations.
append	: If true, append the supply train keypoints with those already present.

Definition at line 370 of file vpKeyPoint.cpp.

References buildReference(), and extract().

void vpKeyPoint::buildReference	(	const vpImage< unsigned char > &	I,
		const std::vector< cv::KeyPoint > &	trainKeyPoints,
		const cv::Mat &	trainDescriptors,
		const std::vector< cv::Point3f > &	points3f,
		bool	append = `false`
	)

Build the reference keypoints list and compute the 3D position corresponding of the keypoints locations.

Parameters

I	: Input image
trainKeyPoints	: List of the train keypoints.
points3f	: List of the 3D position corresponding of the keypoints locations.
trainDescriptors	: List of the train descriptors.
append	: If true, append the supply train keypoints with those already present.

Definition at line 387 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, vpConvert::convertFromOpenCV(), and vpBasicKeyPoint::referenceImagePointsList.

void vpKeyPoint::compute3D	(	const cv::KeyPoint &	candidate,
		const std::vector< vpPoint > &	roi,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		cv::Point3f &	point
	)

static

Compute the 3D coordinate given the 2D image coordinate and under the assumption that the point is located on a plane whose the plane equation is known in the camera frame. The Z-coordinate is retrieved according to the proportional relation between the plane equation expressed in the normalized camera frame (derived from the image coordinate) and the same plane equation expressed in the camera frame.

Parameters

candidate	: Keypoint we want to compute the 3D coordinate.
roi	: List of 3D points representing a planar face.
cam	: Camera parameters.
cMo	: Homogeneous matrix between the world and the camera frames.
point	: 3D coordinate computed.

Definition at line 437 of file vpKeyPoint.cpp.

References vpPixelMeterConversion::convertPoint(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), and vpHomogeneousMatrix::inverse().

Referenced by compute3DForPointsInPolygons().

void vpKeyPoint::compute3D	(	const vpImagePoint &	candidate,
		const std::vector< vpPoint > &	roi,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		vpPoint &	point
	)

static

Compute the 3D coordinate given the 2D image coordinate and under the assumption that the point is located on a plane whose the plane equation is known in the camera frame. The Z-coordinate is retrieved according to the proportional relation between the plane equation expressed in the normalized camera frame (derived from the image coordinate) and the same plane equation expressed in the camera frame.

Parameters

candidate	: vpImagePoint we want to compute the 3D coordinate.
roi	: List of 3D points representing a planar face.
cam	: Camera parameters.
cMo	: Homogeneous matrix between the world and the camera frames.
point	: 3D coordinate computed.

Definition at line 475 of file vpKeyPoint.cpp.

References vpPixelMeterConversion::convertPoint(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), vpHomogeneousMatrix::inverse(), and vpPoint::setWorldCoordinates().

void vpKeyPoint::compute3DForPointsInPolygons	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		std::vector< cv::KeyPoint > &	candidates,
		std::vector< vpPolygon > &	polygons,
		std::vector< std::vector< vpPoint > > &	roisPt,
		std::vector< cv::Point3f > &	points,
		cv::Mat *	descriptors = `NULL`
	)

static

Keep only keypoints located on faces and compute for those keypoints the 3D coordinate given the 2D image coordinate and under the assumption that the point is located on a plane.

Parameters

cMo	: Homogeneous matrix between the world and the camera frames.
cam	: Camera parameters.
candidates	: In input, list of keypoints detected in the whole image, in output, list of keypoints only located on planes.
polygons	: List of 2D polygons representing the projection of the faces in the image plane.
roisPt	: List of faces.
points	: Output list of computed 3D coordinates of keypoints located only on faces.
descriptors	: Optional parameter, pointer to the descriptors to filter

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 514 of file vpKeyPoint.cpp.

References compute3D(), and vpImagePoint::set_ij().

void vpKeyPoint::compute3DForPointsInPolygons	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	candidates,
		std::vector< vpPolygon > &	polygons,
		std::vector< std::vector< vpPoint > > &	roisPt,
		std::vector< vpPoint > &	points,
		cv::Mat *	descriptors = `NULL`
	)

static

Keep only keypoints located on faces and compute for those keypoints the 3D coordinate given the 2D image coordinate and under the assumption that the point is located on a plane.

Parameters

cMo	: Homogeneous matrix between the world and the camera frames.
cam	: Camera parameters.
candidates	: In input, list of vpImagePoint located in the whole image, in output, list of vpImagePoint only located on planes.
polygons	: List of 2D polygons representing the projection of the faces in the image plane.
roisPt	: List of faces.
points	: Output list of computed 3D coordinates of vpImagePoint located only on faces.
descriptors	: Optional parameter, pointer to the descriptors to filter

Definition at line 565 of file vpKeyPoint.cpp.

References compute3D().

bool vpKeyPoint::computePose	(	const std::vector< cv::Point2f > &	imagePoints,
		const std::vector< cv::Point3f > &	objectPoints,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		std::vector< int > &	inlierIndex,
		double &	elapsedTime,
		bool()(vpHomogeneousMatrix )	func = `NULL`
	)

Compute the pose using the correspondence between 2D points and 3D points using OpenCV function with RANSAC method.

Parameters

imagePoints	: List of 2D points corresponding to the location of the detected keypoints.
objectPoints	: List of the 3D points in the object frame matched.
cam	: Camera parameters.
cMo	: Homogeneous matrix between the object frame and the camera frame.
inlierIndex	: List of indexes of inliers.
elapsedTime	: Elapsed time.
func	: Function pointer to filter the final pose returned by OpenCV pose estimation method.

Returns: True if the pose has been computed, false otherwise (not enough points, or size list mismatch).

Definition at line 609 of file vpKeyPoint.cpp.

References vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), and vpTime::measureTimeMs().

Referenced by matchPoint().

bool vpKeyPoint::computePose	(	const std::vector< vpPoint > &	objectVpPoints,
		vpHomogeneousMatrix &	cMo,
		std::vector< vpPoint > &	inliers,
		double &	elapsedTime,
		bool()(vpHomogeneousMatrix )	func = `NULL`
	)

Compute the pose using the correspondence between 2D points and 3D points using ViSP function with RANSAC method.

Parameters

objectVpPoints	: List of vpPoint with coordinates expressed in the object and in the camera frame.
cMo	: Homogeneous matrix between the object frame and the camera frame.
inliers	: List of inliers.
elapsedTime	: Elapsed time.

Returns: True if the pose has been computed, false otherwise (not enough points, or size list mismatch).

Parameters

func	: Function pointer to filter the pose in Ransac pose estimation, if we want to eliminate the poses which do not respect some criterion

Definition at line 694 of file vpKeyPoint.cpp.

References vpPose::addPoint(), vpPose::computePose(), vpPose::getCovarianceMatrix(), vpPose::getRansacInliers(), vpTime::measureTimeMs(), vpPose::RANSAC, vpPose::setCovarianceComputation(), vpPose::setRansacMaxTrials(), vpPose::setRansacNbInliersToReachConsensus(), vpPose::setRansacThreshold(), and vpException::what().

void vpKeyPoint::createImageMatching	(	vpImage< unsigned char > &	IRef,
		vpImage< unsigned char > &	ICurrent,
		vpImage< unsigned char > &	IMatching
	)

Initialize the size of the matching image (case with a matching side by side between IRef and ICurrent).

Parameters

IRef	: Reference image.
ICurrent	: Current image.
IMatching	: Image matching.

Definition at line 792 of file vpKeyPoint.cpp.

References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

Referenced by createImageMatching().

void vpKeyPoint::createImageMatching	(	vpImage< unsigned char > &	ICurrent,
		vpImage< unsigned char > &	IMatching
	)

Initialize the size of the matching image with appropriate size according to the number of training images. Used to display the matching of keypoints detected in the current image with those detected in multiple training images.

Parameters

ICurrent	: Current image.
IMatching	: Image initialized with appropriate size.

Definition at line 809 of file vpKeyPoint.cpp.

References createImageMatching(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

void vpKeyPoint::detect	(	const vpImage< unsigned char > &	I,
		std::vector< cv::KeyPoint > &	keyPoints,
		double &	elapsedTime,
		const vpRect &	rectangle = `vpRect()`
	)

Detect keypoints in the image.

Parameters

I	: Input image.
keyPoints	: Output list of the detected keypoints.
elapsedTime	: Elapsed time.
rectangle	: Optional rectangle of the region of interest.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 860 of file vpKeyPoint.cpp.

References vpImageConvert::convert(), vpRect::getBottom(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), and vpRect::getWidth().

Referenced by buildReference(), and matchPoint().

void vpKeyPoint::detect	(	const cv::Mat &	matImg,
		std::vector< cv::KeyPoint > &	keyPoints,
		double &	elapsedTime,
		const cv::Mat &	mask = `cv::Mat()`
	)

Detect keypoints in the image.

Parameters

matImg	: Input image.
keyPoints	: Output list of the detected keypoints.
elapsedTime	: Elapsed time.
mask	: Optional mask to detect only where mask[i][j] == 1.

Definition at line 885 of file vpKeyPoint.cpp.

References vpTime::measureTimeMs().

void vpKeyPoint::detectExtractAffine	(	const vpImage< unsigned char > &	I,
		std::vector< std::vector< cv::KeyPoint > > &	listOfKeypoints,
		std::vector< cv::Mat > &	listOfDescriptors,
		std::vector< vpImage< unsigned char > > *	listOfAffineI = `NULL`
	)

Apply a set of affine transormations to the image, detect keypoints and reproject them into initial image coordinates. See http://www.ipol.im/pub/algo/my_affine_sift/ for the details. See https://github.com/Itseez/opencv/blob/master/samples/python2/asift.py for the Python implementation by Itseez and Matt Sheckells for the current implementation in C++.

Parameters

I	: Input image
listOfKeypoints	: List of detected keypoints in the multiple images after affine transformations
listOfDescriptors	: Corresponding list of descriptors
listOfAffineI	: Optional parameter, list of images after affine transformations

Definition at line 2600 of file vpKeyPoint.cpp.

References vpImageConvert::convert(), and extract().

Referenced by buildReference(), and matchPoint().

void vpKeyPoint::display	(	const vpImage< unsigned char > &	IRef,
		const vpImage< unsigned char > &	ICurrent,
		unsigned int	size = `3`
	)

virtual

Display the reference and the detected keypoints in the images.

Parameters

IRef	: Input reference image.
ICurrent	: Input current image.
size	: Size of the displayed cross.

Implements vpBasicKeyPoint.

Definition at line 906 of file vpKeyPoint.cpp.

References vpDisplay::displayCross(), getQueryKeyPoints(), getTrainKeyPoints(), vpColor::green, and vpColor::red.

void vpKeyPoint::display	(	const vpImage< unsigned char > &	ICurrent,
		unsigned int	size = `3`,
		const vpColor &	color = `vpColor::green`
	)

virtual

Display the reference keypoints.

Parameters

ICurrent	: Input current image.
size	: Size of the displayed crosses.
color	: Color of the crosses.

Implements vpBasicKeyPoint.

Definition at line 926 of file vpKeyPoint.cpp.

References vpDisplay::displayCross(), and getQueryKeyPoints().

void vpKeyPoint::displayMatching	(	const vpImage< unsigned char > &	IRef,
		vpImage< unsigned char > &	IMatching,
		unsigned int	crossSize,
		unsigned int	lineThickness = `1`,
		const vpColor &	color = `vpColor::green`
	)

Display the matching lines between the detected keypoints with those detected in one training image.

Parameters

IRef	: Reference image, used to have the x-offset.
IMatching	: Resulting image matching.
crossSize	: Size of the displayed crosses.
lineThickness	: Thickness of the displayed lines.
color	: Color to use, if none, we pick randomly a color for each pair of matching.

Definition at line 944 of file vpKeyPoint.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), getQueryKeyPoints(), getTrainKeyPoints(), vpImage< Type >::getWidth(), and vpColor::none.

Referenced by displayMatching().

void vpKeyPoint::displayMatching	(	const vpImage< unsigned char > &	ICurrent,
		vpImage< unsigned char > &	IMatching,
		const std::vector< vpImagePoint > &	ransacInliers = `std::vector<vpImagePoint>()`,
		unsigned int	crossSize = `3`,
		unsigned int	lineThickness = `1`
	)

Display matching between keypoints detected in the current image and with those detected in the multiple training images. Display also RANSAC inliers if the list is supplied.

Parameters

ICurrent	: Current image.
IMatching	: Resulting matching image.
ransacInliers	: List of Ransac inliers or empty list if not available.
crossSize	: Size of the displayed crosses.
lineThickness	: Thickness of the displayed line.

Definition at line 980 of file vpKeyPoint.cpp.

References vpDisplay::displayCircle(), vpDisplay::displayCross(), vpDisplay::displayLine(), displayMatching(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpColor::green, vpColor::red, and vpImagePoint::set_ij().

void vpKeyPoint::extract	(	const vpImage< unsigned char > &	I,
		std::vector< cv::KeyPoint > &	keyPoints,
		cv::Mat &	descriptors,
		double &	elapsedTime
	)

Extract the descriptors for each keypoints of the list.

Parameters

I	: Input image.
keyPoints	: List of keypoints we want to extract their descriptors.
descriptors	: Descriptors matrix with at each row the descriptors values for each keypoint.
elapsedTime	: Elapsed time.

Definition at line 1092 of file vpKeyPoint.cpp.

References vpImageConvert::convert().

Referenced by buildReference(), detectExtractAffine(), and matchPoint().

void vpKeyPoint::extract	(	const cv::Mat &	matImg,
		std::vector< cv::KeyPoint > &	keyPoints,
		cv::Mat &	descriptors,
		double &	elapsedTime
	)

Extract the descriptors for each keypoints of the list.

Parameters

matImg	: Input image.
keyPoints	: List of keypoints we want to extract their descriptors.
descriptors	: Descriptors matrix with at each row the descriptors values for each keypoint.
elapsedTime	: Elapsed time.

Definition at line 1107 of file vpKeyPoint.cpp.

References vpTime::measureTimeMs().

const vpImagePoint* vpBasicKeyPoint::getAllPointsInReferenceImage ( )

inlineinherited

Get the pointer to the complete list of reference points. The pointer is const. Thus the points can not be modified

Returns: The pointer to the complete list of reference points.

Definition at line 115 of file vpBasicKeyPoint.h.

vpMatrix vpKeyPoint::getCovarianceMatrix ( ) const

inline

Get the covariance matrix when estimating the pose using the Virtual Visual Servoing approach.

Warning: The compute covariance flag has to be true if you want to compute the covariance matrix.

See also: setCovarianceComputation

Definition at line 301 of file vpKeyPoint.h.

const std::vector<vpImagePoint>& vpBasicKeyPoint::getCurrentImagePointsList ( ) const

inlineinherited

Return the vector of current image point.

Warning: Should not be modified.

Returns: Vector of the current image point.

Definition at line 212 of file vpBasicKeyPoint.h.

double vpKeyPoint::getDetectionTime ( ) const

inline

Get the elapsed time to compute the keypoint detection.

Returns: The elapsed time.

Definition at line 322 of file vpKeyPoint.h.

double vpKeyPoint::getExtractionTime ( ) const

inline

Get the elapsed time to compute the keypoint extraction.

Returns: The elapsed time.

Definition at line 331 of file vpKeyPoint.h.

unsigned int vpBasicKeyPoint::getIndexInAllReferencePointList ( const unsigned int indexInMatchedPointList )

inlineinherited

Get the nth matched reference point index in the complete list of reference point.

In the code below referencePoint1 and referencePoint2 correspond to the same matched reference point.

vpKeyPointSurf surf;
//Here the code to compute the reference points and the current points.
vpImagePoint referencePoint1;
vpImagePoint currentPoint;
surf.getMatchedPoints(1, referencePoint1, currentPoint);  //Get the first matched points
vpImagePoint referencePoint2;
const vpImagePoint* referencePointsList = surf.getAllPointsInReferenceImage();
int index = surf.getIndexInAllReferencePointList(1);  //Get the first matched reference point index in the complete reference point list
referencePoint2 = referencePointsList[index]; //Get the first matched reference point

Definition at line 173 of file vpBasicKeyPoint.h.

References vpException::fatalError, and vpTRACE.

unsigned int vpBasicKeyPoint::getMatchedPointNumber ( ) const

inlineinherited

Get the number of matched points.

Returns: the number of matched points.

Definition at line 194 of file vpBasicKeyPoint.h.

void vpBasicKeyPoint::getMatchedPoints	(	const unsigned int	index,
		vpImagePoint &	referencePoint,
		vpImagePoint &	currentPoint
	)

inlineinherited

Get the nth couple of reference point and current point which have been matched. These points are copied in the vpImagePoint instances given in argument.

Parameters

index	: The index of the desired couple of reference point and current point . The index must be between 0 and the number of matched points - 1.
referencePoint	: The coordinates of the desired reference point are copied here.
currentPoint	: The coordinates of the desired current point are copied here.

Examples:: tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, and tutorial-matching-surf-homography-deprecated.cpp.

Definition at line 143 of file vpBasicKeyPoint.h.

References vpException::fatalError, vpImagePoint::set_ij(), and vpTRACE.

const std::vector<unsigned int>& vpBasicKeyPoint::getMatchedReferencePoints ( ) const

inlineinherited

Return the index of the matched associated to the current image point i. The ith element of the vector is the index of the reference image point matching with the current image point.

Warning: Should not be modified.

Returns: The vector of matching index.

Definition at line 223 of file vpBasicKeyPoint.h.

std::vector<cv::DMatch> vpKeyPoint::getMatches ( ) const

inline

Get the list of matches (correspondences between the indexes of the detected keypoints and the train keypoints).

Returns: The list of matches.

Definition at line 349 of file vpKeyPoint.h.

double vpKeyPoint::getMatchingTime ( ) const

inline

Get the elapsed time to compute the matching.

Returns: The elapsed time.

Definition at line 340 of file vpKeyPoint.h.

std::vector<std::pair<cv::KeyPoint, cv::KeyPoint> > vpKeyPoint::getMatchQueryToTrainKeyPoints ( ) const

inline

Get the list of pairs with the correspondence between the matched query and train keypoints.

Returns: The list of pairs with the correspondence between the matched query and train keypoints.

Definition at line 358 of file vpKeyPoint.h.

unsigned int vpKeyPoint::getNbImages ( ) const

inline

Get the number of train images.

Returns: The number of train images.

Definition at line 367 of file vpKeyPoint.h.

void vpKeyPoint::getObjectPoints ( std::vector< cv::Point3f > & objectPoints ) const

Get the 3D coordinates of the object points matched (the corresponding 3D coordinates in the object frame of the keypoints detected in the current image after the matching).

Parameters

objectPoints : List of 3D coordinates in the object frame.

Definition at line 1277 of file vpKeyPoint.cpp.

void vpKeyPoint::getObjectPoints ( std::vector< vpPoint > & objectPoints ) const

Get the 3D coordinates of the object points matched (the corresponding 3D coordinates in the object frame of the keypoints detected in the current image after the matching).

Parameters

objectPoints : List of 3D coordinates in the object frame.

Definition at line 1287 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV().

double vpKeyPoint::getPoseTime ( ) const

inline

Get the elapsed time to compute the pose.

Returns: The elapsed time.

Definition at line 379 of file vpKeyPoint.h.

cv::Mat vpKeyPoint::getQueryDescriptors ( ) const

inline

Get the descriptors matrix for the query keypoints.

Returns: Matrix with descriptors values at each row for each query keypoints.

Definition at line 388 of file vpKeyPoint.h.

void vpKeyPoint::getQueryKeyPoints ( std::vector< cv::KeyPoint > & keyPoints ) const

Get the query keypoints list in OpenCV type.

Parameters

keyPoints : List of query keypoints (or keypoints detected in the current image).

Definition at line 1296 of file vpKeyPoint.cpp.

Referenced by display(), and displayMatching().

void vpKeyPoint::getQueryKeyPoints ( std::vector< vpImagePoint > & keyPoints ) const

Get the query keypoints list in ViSP type.

Parameters

keyPoints : List of query keypoints (or keypoints detected in the current image).

Definition at line 1305 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::currentImagePointsList.

std::vector<vpImagePoint> vpKeyPoint::getRansacInliers ( ) const

inline

Get the list of Ransac inliers.

Returns: The list of Ransac inliers.

Definition at line 400 of file vpKeyPoint.h.

std::vector<vpImagePoint> vpKeyPoint::getRansacOutliers ( ) const

inline

Get the list of Ransac outliers.

Returns: The list of Ransac outliers.

Definition at line 409 of file vpKeyPoint.h.

const std::vector<vpImagePoint>& vpBasicKeyPoint::getReferenceImagePointsList ( ) const

inlineinherited

Return the vector of reference image point.

Warning: Should not be modified.

Returns: Vector of reference image point.

Definition at line 203 of file vpBasicKeyPoint.h.

void vpBasicKeyPoint::getReferencePoint	(	const unsigned int	index,
		vpImagePoint &	referencePoint
	)

inlineinherited

Get the nth reference point. This point is copied in the vpImagePoint instance given in argument.

Parameters

index	: The index of the desired reference point. The index must be between 0 and the number of reference points - 1.
referencePoint	: The coordinates of the desired reference point are copied there.

Definition at line 125 of file vpBasicKeyPoint.h.

References vpException::fatalError, vpImagePoint::set_ij(), and vpTRACE.

unsigned int vpBasicKeyPoint::getReferencePointNumber ( ) const

inlineinherited

Get the number of reference points.

Returns: the number of reference points.

Definition at line 187 of file vpBasicKeyPoint.h.

cv::Mat vpKeyPoint::getTrainDescriptors ( ) const

inline

Get the train descriptors matrix.

Returns: : Matrix with descriptors values at each row for each train keypoints (or reference keypoints).

Definition at line 418 of file vpKeyPoint.h.

void vpKeyPoint::getTrainKeyPoints ( std::vector< cv::KeyPoint > & keyPoints ) const

Get the train keypoints list in OpenCV type.

Parameters

keyPoints : List of train keypoints (or reference keypoints).

Definition at line 1314 of file vpKeyPoint.cpp.

Referenced by display(), and displayMatching().

void vpKeyPoint::getTrainKeyPoints ( std::vector< vpImagePoint > & keyPoints ) const

Get the train keypoints list in ViSP type.

Parameters

keyPoints : List of train keypoints (or reference keypoints).

Definition at line 1323 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::referenceImagePointsList.

void vpKeyPoint::getTrainPoints ( std::vector< cv::Point3f > & points ) const

Get the train points (the 3D coordinates in the object frame) list in OpenCV type.

Parameters

points : List of train points (or reference points).

Definition at line 1332 of file vpKeyPoint.cpp.

void vpKeyPoint::getTrainPoints ( std::vector< vpPoint > & points ) const

Get the train points (the 3D coordinates in the object frame) list in ViSP type.

Parameters

points : List of train points (or reference points).

Definition at line 1341 of file vpKeyPoint.cpp.

void vpKeyPoint::initMatcher ( const std::string & matcherName )

Initialize a matcher based on its name.

Parameters

matcherName : Name of the matcher (e.g BruteForce, FlannBased).

Definition at line 1544 of file vpKeyPoint.cpp.

References vpException::fatalError.

void vpKeyPoint::insertImageMatching	(	const vpImage< unsigned char > &	IRef,
		const vpImage< unsigned char > &	ICurrent,
		vpImage< unsigned char > &	IMatching
	)

Insert a reference image and a current image side-by-side.

Parameters

IRef	: Reference image.
ICurrent	: Current image.
IMatching	: Matching image for displaying all the matching between the query keypoints and those detected in the training images.

Definition at line 1569 of file vpKeyPoint.cpp.

References vpImage< Type >::getWidth(), and vpImage< Type >::insert().

Referenced by insertImageMatching().

void vpKeyPoint::insertImageMatching	(	const vpImage< unsigned char > &	ICurrent,
		vpImage< unsigned char > &	IMatching
	)

Insert the different training images in the matching image.

Parameters

ICurrent	: Current image.
IMatching	: Matching image for displaying all the matching between the query keypoints and those detected in the training images

Definition at line 1584 of file vpKeyPoint.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImage< Type >::insert(), and insertImageMatching().

void vpKeyPoint::loadConfigFile ( const std::string & configFile )

Load configuration parameters from an XML config file.

Parameters

configFile : Path to the XML config file.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 1644 of file vpKeyPoint.cpp.

void vpKeyPoint::loadLearningData	(	const std::string &	filename,
		const bool	binaryMode = `false`,
		const bool	append = `false`
	)

Load learning data saved on disk.

Parameters

filename	: Path of the learning file.
binaryMode	: If true, the learning file is in a binary mode, otherwise it is in XML mode.
append	: If true, concatenate the learning data, otherwise reset the variables.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 1718 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, vpConvert::convertFromOpenCV(), vpIoTools::getParent(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpImageIo::read(), and vpBasicKeyPoint::referenceImagePointsList.

void vpKeyPoint::match	(	const cv::Mat &	trainDescriptors,
		const cv::Mat &	queryDescriptors,
		std::vector< cv::DMatch > &	matches,
		double &	elapsedTime
	)

Match keypoints based on distance between their descriptors.

Parameters

trainDescriptors	: Train descriptors (or reference descriptors).
queryDescriptors	: Query descriptors.
matches	: Output list of matches.
elapsedTime	: Elapsed time.

Definition at line 2133 of file vpKeyPoint.cpp.

References vpTime::measureTimeMs().

Referenced by matchPoint().

unsigned int vpKeyPoint::matchPoint ( const vpImage< unsigned char > & I )

virtual

Match keypoints detected in the image with those built in the reference list.

Parameters

I	: Input current image.

Returns: The number of matched keypoints.

Implements vpBasicKeyPoint.

Examples:: tutorial-detection-object-mbt.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, and tutorial-matching-keypoint.cpp.

Definition at line 2155 of file vpKeyPoint.cpp.

Referenced by matchPoint(), and matchPointAndDetect().

unsigned int vpKeyPoint::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	iP,
		const unsigned int	height,
		const unsigned int	width
	)

virtual

Match keypoints detected in a region of interest of the image with those built in the reference list.

Parameters

I	: Input image
iP	: Coordinate of the top-left corner of the region of interest
height	: Height of the region of interest
width	: Width of the region of interest

Returns: The number of matched keypoints

Implements vpBasicKeyPoint.

Definition at line 2169 of file vpKeyPoint.cpp.

References matchPoint().

unsigned int vpKeyPoint::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpRect &	rectangle
	)

virtual

Match keypoints detected in a region of interest of the image with those built in the reference list.

Parameters

I	: Input image
rectangle	: Rectangle of the region of interest

Returns: The number of matched keypoints

Implements vpBasicKeyPoint.

Definition at line 2183 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, vpConvert::convertFromOpenCV(), vpBasicKeyPoint::currentImagePointsList, detect(), detectExtractAffine(), extract(), match(), vpBasicKeyPoint::matchedReferencePoints, and noFilterMatching.

bool vpKeyPoint::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		double &	error,
		double &	elapsedTime,
		bool()(vpHomogeneousMatrix )	func = `NULL`
	)

Match keypoints detected in the image with those built in the reference list and compute the pose.

Parameters

I	: Input image
cam	: Camera parameters
cMo	: Homogeneous matrix between the object frame and the camera frame
error	: Reprojection mean square error (in pixel) between the 2D points and the projection of the 3D points with the estimated pose
elapsedTime	: Time to detect, extract, match and compute the pose
func	: Function pointer to filter the pose in Ransac pose estimation, if we want to eliminate the poses which do not respect some criterion

Returns: True if the matching and the pose estimation are OK, false otherwise

Definition at line 2264 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, computePose(), vpConvert::convertFromOpenCV(), vpPixelMeterConversion::convertPoint(), vpMeterPixelConversion::convertPoint(), vpBasicKeyPoint::currentImagePointsList, detect(), detectExtractAffine(), extract(), match(), vpBasicKeyPoint::matchedReferencePoints, noFilterMatching, vpPoint::set_x(), vpPoint::set_y(), and vpPoint::setWorldCoordinates().

bool vpKeyPoint::matchPointAndDetect	(	const vpImage< unsigned char > &	I,
		vpRect &	boundingBox,
		vpImagePoint &	centerOfGravity,
		const bool	isPlanarObject = `true`,
		std::vector< vpImagePoint > *	imPts1 = `NULL`,
		std::vector< vpImagePoint > *	imPts2 = `NULL`,
		double *	meanDescriptorDistance = `NULL`,
		double *	detectionScore = `NULL`
	)

Match keypoints detected in the image with those built in the reference list and return the bounding box and the center of gravity.

Parameters

I	: Input image
boundingBox	: Bounding box that contains the good matches
centerOfGravity	: Center of gravity computed from the location of the good matches (could differ of the center of the bounding box)
isPlanarObject	: If the object is planar, the homography matrix is estimated to eliminate outliers, otherwise it is the fundamental matrix which is estimated
imPts1	: Pointer to the list of reference keypoints if not null
imPts2	: Pointer to the list of current keypoints if not null
meanDescriptorDistance	: Pointer to the value of the average distance of the descriptors if not null
detectionScore	: Pointer to the value of the detection score if not null

Returns: True if the object is present, false otherwise

Definition at line 2417 of file vpKeyPoint.cpp.

References detectionThreshold, vpPolygon::getBoundingBox(), matchPoint(), vpImagePoint::set_u(), and vpImagePoint::set_v().

bool vpKeyPoint::matchPointAndDetect	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		double &	error,
		double &	elapsedTime,
		vpRect &	boundingBox,
		vpImagePoint &	centerOfGravity,
		bool()(vpHomogeneousMatrix )	func = `NULL`
	)

Match keypoints detected in the image with those built in the reference list, compute the pose and return also the bounding box and the center of gravity.

Parameters

I	: Input image
cam	: Camera parameters
cMo	: Homogeneous matrix between the object frame and the camera frame
error	: Reprojection mean square error (in pixel) between the 2D points and the projection of the 3D points with the estimated pose
elapsedTime	: Time to detect, extract, match and compute the pose
boundingBox	: Bounding box that contains the good matches
centerOfGravity	: Center of gravity computed from the location of the good matches (could differ of the center of the bounding box)
func	: Function pointer to filter the pose in Ransac pose estimation, if we want to eliminate the poses which do not respect some criterion

Returns: True if the matching and the pose estimation are OK, false otherwise.

Definition at line 2550 of file vpKeyPoint.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpPolygon::getBoundingBox(), matchPoint(), vpForwardProjection::project(), vpImagePoint::set_u(), and vpImagePoint::set_v().

bool vpBasicKeyPoint::referenceBuilt ( ) const

inlineinherited

Indicate wether the reference has been built or not.

Returns: True if the reference of the current instance has been built.

Definition at line 108 of file vpBasicKeyPoint.h.

void vpKeyPoint::saveLearningData	(	const std::string &	filename,
		const bool	binaryMode = `false`,
		const bool	saveTrainingImages = `true`
	)

Save the learning data in a file in XML or binary mode.

Parameters

filename	: Path of the save file
binaryMode	: If true, the data are saved in binary mode, otherwise in XML mode
saveTrainingImages	: If true, save also the training images on disk

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 2661 of file vpKeyPoint.cpp.

References vpException::fatalError, vpIoTools::getParent(), vpException::ioError, vpIoTools::makeDirectory(), and vpImageIo::write().

void vpKeyPoint::setCovarianceComputation ( const bool & flag )

inline

Set if the covariance matrix has to be computed in the Virtual Visual Servoing approach.

Parameters

flag	: True if the covariance has to be computed, false otherwise.

Definition at line 467 of file vpKeyPoint.h.

void vpKeyPoint::setDetectionMethod ( const vpDetectionMethodType & method )

inline

Set the method to decide if the object is present or not.

Parameters

method : Detection method (detectionThreshold or detectionScore).

Definition at line 481 of file vpKeyPoint.h.

void vpKeyPoint::setDetector ( const std::string & detectorName )

inline

Set and initialize a detector denominated by his name detectorName.

Parameters

detectorName : Name of the detector.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 490 of file vpKeyPoint.h.

template<typename T1 , typename T2 , typename T3 >

void vpKeyPoint::setDetectorParameter	(	const T1	detectorName,
		const T2	parameterName,
		const T3	value
	)

inline

Template function to set to a parameterName a value for a specific detector named by his detectorName.

Parameters

detectorName	: Name of the detector
parameterName	: Name of the parameter
value	: Value to set

Definition at line 504 of file vpKeyPoint.h.

void vpKeyPoint::setDetectors ( const std::vector< std::string > & detectorNames )

inline

Set and initialize a list of detectors denominated by their names detectorNames.

Parameters

detectorNames : List of detector names.

Definition at line 516 of file vpKeyPoint.h.

void vpKeyPoint::setExtractor ( const std::string & extractorName )

inline

Set and initialize an extractor denominated by his name extractorName.

Parameters

extractorName : Name of the extractor.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 528 of file vpKeyPoint.h.

template<typename T1 , typename T2 , typename T3 >

void vpKeyPoint::setExtractorParameter	(	const T1	extractorName,
		const T2	parameterName,
		const T3	value
	)

inline

Template function to set to a parameterName a value for a specific extractor named by his extractorName.

Parameters

extractorName	: Name of the extractor
parameterName	: Name of the parameter
value	: Value to set

Definition at line 542 of file vpKeyPoint.h.

void vpKeyPoint::setExtractors ( const std::vector< std::string > & extractorNames )

inline

Set and initialize a list of extractors denominated by their names extractorNames.

Parameters

extractorNames : List of extractor names.

Definition at line 554 of file vpKeyPoint.h.

void vpKeyPoint::setFilterMatchingType ( const vpFilterMatchingType & filterType )

inline

Set the filtering method to eliminate false matching. The different methods are:

constantFactorDistanceThreshold (keep matches whose the descriptor distance is below dist_min * factor)
stdDistanceThreshold (keep matches whose the descriptor distance is below dist_min + standard_deviation)
ratioDistanceThreshold (keep matches enough discriminated: the ratio distance between the 2 best matches is below the threshold)
stdAndRatioDistanceThreshold (keep matches that agree with at least one of the two conditions)
noFilterMatching

Parameters

filterType : Type of the filtering method

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 591 of file vpKeyPoint.h.

void vpKeyPoint::setMatcher ( const std::string & matcherName )

inline

Set and initialize a matcher denominated by his name matcherName. The different matchers are:

BruteForce (it uses L2 distance)
BruteForce-L1
BruteForce-Hamming
BruteForce-Hamming(2)
FlannBased

L1 and L2 norms are preferable choices for SIFT and SURF descriptors, NORM_HAMMING should be used with ORB, BRISK and BRIEF, NORM_HAMMING2 should be used with ORB when WTA_K==3 or 4.

Parameters

matcherName : Name of the matcher.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 575 of file vpKeyPoint.h.

void vpKeyPoint::setMatchingFactorThreshold ( const double factor )

inline

Set the factor value for the filtering method: constantFactorDistanceThreshold.

Parameters

factor : Factor value

Definition at line 608 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setMatchingRatioThreshold ( const double ratio )

inline

Set the ratio value for the filtering method: ratioDistanceThreshold.

Parameters

ratio : Ratio value (]0 ; 1])

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 621 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacConsensusPercentage ( const double percentage )

inline

Set the percentage value for defining the cardinality of the consensus group.

Parameters

percentage : Percentage value (]0 ; 100])

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 634 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacIteration ( const int nbIter )

inline

Set the maximum number of iterations for the Ransac pose estimation method.

Parameters

nbIter : Maximum number of iterations for the Ransac

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 647 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacMinInlierCount ( const int minCount )

inline

Set the minimum number of inlier for the Ransac pose estimation method.

Parameters

minCount : Minimum number of inlier for the consensus

Definition at line 673 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacReprojectionError ( const double reprojectionError )

inline

Set the maximum reprojection error (in pixel) to determine if a point is an inlier or not.

Parameters

reprojectionError : Maximum reprojection error in pixel (used by OpenCV function)

Definition at line 660 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacThreshold ( const double threshold )

inline

Set the maximum error (in meter) to determine if a point is an inlier or not.

Parameters

threshold : Maximum error in meter for ViSP function

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 686 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setUseAffineDetection ( const bool useAffine )

inline

Set if multiple affine transformations must be used to detect and extract keypoints.

Parameters

useAffine : True to use multiple affine transformations, false otherwise

Definition at line 699 of file vpKeyPoint.h.

void vpKeyPoint::setUseBruteForceCrossCheck ( const bool useCrossCheck )

inline

Set if cross check method must be used to eliminate some false matches with a brute-force matching method.

Parameters

useCrossCheck : True to use cross check, false otherwise

Definition at line 709 of file vpKeyPoint.h.

void vpKeyPoint::setUseRansacConsensusPercentage ( const bool usePercentage )

inline

Set the flag to choose between a percentage value of inliers for the cardinality of the consensus group or a minimum number.

Parameters

usePercentage : True to a percentage ratio of inliers, otherwise use a specified number of inliers

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 723 of file vpKeyPoint.h.

void vpKeyPoint::setUseRansacVVS ( const bool ransacVVS )

inline

Set the flag to choose between the OpenCV or ViSP Ransac pose estimation function.

Parameters

ransacVVS : True to use ViSP function, otherwise use OpenCV function

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 732 of file vpKeyPoint.h.

Member Data Documentation

bool vpBasicKeyPoint::_reference_computed

protectedinherited

flag to indicate if the reference has been built.

Definition at line 249 of file vpBasicKeyPoint.h.

Referenced by vpKeyPointSurf::buildReference(), buildReference(), vpFernClassifier::buildReference(), loadLearningData(), and matchPoint().

std::vector<vpImagePoint> vpBasicKeyPoint::currentImagePointsList

protectedinherited

List of the points which belong to the current image and have been matched with points belonging to the reference.

Definition at line 238 of file vpBasicKeyPoint.h.

Referenced by vpKeyPointSurf::display(), vpFernClassifier::display(), getQueryKeyPoints(), vpKeyPointSurf::matchPoint(), vpFernClassifier::matchPoint(), and matchPoint().

std::vector<unsigned int> vpBasicKeyPoint::matchedReferencePoints

protectedinherited

Array containing the index in the array "referenceImagePointsList" of the reference points which have been matched.

The first element of the "currentImagePointsList" array is matched with the nth element of the "referenceImagePointsList" array. The value of n is stored in the first element of the "matchedReferencePoints" array.

Definition at line 246 of file vpBasicKeyPoint.h.

Referenced by vpKeyPointSurf::display(), vpFernClassifier::display(), vpKeyPointSurf::matchPoint(), vpFernClassifier::matchPoint(), and matchPoint().

std::vector<vpImagePoint> vpBasicKeyPoint::referenceImagePointsList

protectedinherited

List of the points which define the reference.

Definition at line 232 of file vpBasicKeyPoint.h.

Referenced by vpKeyPointSurf::buildReference(), buildReference(), vpKeyPointSurf::display(), vpFernClassifier::display(), vpKeyPointSurf::getDescriptorParamReferencePoint(), vpKeyPointSurf::getDescriptorReferencePoint(), vpKeyPointSurf::getLaplacianReferencePoint(), getTrainKeyPoints(), loadLearningData(), and vpFernClassifier::train().

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