#include <vpFernClassifier.h>

Inheritance diagram for vpFernClassifier:

Public Member Functions
	vpFernClassifier ()

	vpFernClassifier (const std::string &_dataFile, const std::string &_objectName)

virtual	~vpFernClassifier ()

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

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

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

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

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

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

virtual void	display (const vpImage< unsigned char > &Iref, const vpImage< unsigned char > &Icurrent, unsigned int size=3)

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

void	load (const std::string &_dataFile, const std::string &)

void	record (const std::string &_objectName, const std::string &_dataFile)

void	setBlurSetting (const bool _blur)

void	setBlurSettings (const bool _blur, int _sigma, int _size)

bool	getBlurSetting ()

int	getBlurSigma ()

int	getBlurSize ()

const std::vector< cv::Point2f > &	getRefPt () const

const std::vector< cv::Point2f > &	getCurPt () const

cv::Rect	getModelROI () const

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

Protected Member Functions
void	setImage (const vpImage< unsigned char > &_I)

void	train ()

virtual void	init ()

Protected Attributes
cv::LDetector	ldetector

cv::FernClassifier	fernClassifier

cv::PatchGenerator	gen

bool	hasLearn

int	threshold

int	nbView

int	dist

int	nbClassfier

int	ClassifierSize

int	nbOctave

int	patchSize

int	radius

int	nbPoints

bool	blurImage

int	radiusBlur

int	sigmaBlur

unsigned int	nbMinPoint

IplImage *	curIplImg

std::vector< cv::KeyPoint >	objKeypoints

cv::Rect	modelROI_Ref

cv::Rect	modelROI

std::vector< cv::KeyPoint >	modelPoints

std::vector< cv::KeyPoint >	imgKeypoints

std::vector< cv::Point2f >	refPt

std::vector< cv::Point2f >	curPt

std::vector< vpImagePoint >	referenceImagePointsList

std::vector< vpImagePoint >	currentImagePointsList

std::vector< unsigned int >	matchedReferencePoints

bool	_reference_computed

Detailed Description

Class that implements the Fern classifier and the YAPE detector thanks to the OpenCV library.

This class provides a way to detect and match point using the YAPE and a Fern Classifiers, thanks to the OpenCV library (version >= 2.0)

This class provides a tool to match points between a model and the current image. The points of interests belonging to the model and the points detected in the current image are given in pixels thanks to the vpImagePoint class.

For more details about the Ferns Classifier and the point detector, see [22] and [14].

To use this class, you first have to detect points in the model and train the associated Fern classifier. Then, for each new grabbed image, You can detect points and try to match them with the model.

As training can requires up to several minutes, it is possible to save (in a file) and load the classifier.

The following small example shows how to use the class.

#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpFernClassifier.h>
#if VISP_HAVE_OPENCV_VERSION >= 0x020000 // Fern classifier only available since OpenCV-2.0.0
int main()
{
  vpImage<unsigned char> Ireference;
  vpImage<unsigned char> Icurrent;
  vpFernClassifier fern;
  //First grab the reference image Ireference
  //Build the reference points.
  fern.buildReference(Ireference);
  //Then grab another image which represents the current image Icurrent
  //Match points between the reference points and the points detected in the current image.
  fern.matchPoint(Icurrent);
  //Display the matched points
  fern.display(Ireference, Icurrent);
  return (0);
}
#else
int main() {}
#endif

It is also possible to create the reference thanks to only a part of the reference image (not the whole image) and find points 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/vpFernClassifier.h>
#if VISP_HAVE_OPENCV_VERSION >= 0x020000 // Fern classifier only available since OpenCV-2.0.0
int main()
{
  vpImage<unsigned char> Ireference;
  vpImage<unsigned char> Icurrent;
  vpFernClassifier fern;
  //First grab the reference image Ireference
  //Select a part of the image by clicking 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 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 = fern.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 points detected 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 = fern.matchPoint(Icurrent, corners[0], height, width);
  //Display the matched points
  fern.display(Ireference, Icurrent);
  return(0);
}
#else
int main() {}
#endif

Examples:: fernClassifier.cpp.

Definition at line 177 of file vpFernClassifier.h.

Constructor & Destructor Documentation

vpFernClassifier::vpFernClassifier ( )

Basic constructor

Definition at line 57 of file vpFernClassifier.cpp.

vpFernClassifier::vpFernClassifier	(	const std::string &	_dataFile,
		const std::string &	_objectName
	)

Constructor using the provided data file to load the object given by its name.

If the name of the object does not correspond in the file, a vpException::ioError is thrown.

Parameters

_dataFile	: the name of the file saved after a training (with the record methods).
_objectName	: the name of the object to load

Definition at line 77 of file vpFernClassifier.cpp.

References load().

vpFernClassifier::~vpFernClassifier ( )

virtual

Basic destructor

Definition at line 92 of file vpFernClassifier.cpp.

References curIplImg.

Member Function Documentation

unsigned int vpFernClassifier::buildReference ( const vpImage< unsigned char > & _I )

virtual

Build the list of reference points. The computation of the points is made all over the image I. It also includes the training of the fern classifier.

Warning: thie method can take up to several minutes depending on the parameters of the classifier and on the size of the image.

Parameters

_I	: The gray scaled image where the reference points are computed.

Returns: the number of reference points.

Implements vpBasicKeyPoint.

Examples:: fernClassifier.cpp.

Definition at line 193 of file vpFernClassifier.cpp.

References vpBasicKeyPoint::_reference_computed, objKeypoints, setImage(), and train().

Referenced by vpPlanarObjectDetector::buildReference(), and buildReference().

unsigned int vpFernClassifier::buildReference	(	const vpImage< unsigned char > &	_I,
		const vpImagePoint &	_iP,
		const unsigned int	_height,
		const unsigned int	_width
	)

virtual

Build the list of reference points. The computation of the points is made only on a part of the image. This part is a rectangle defined by its top left corner, its height and its width. The parameters of this rectangle must be given in pixel. It also includes the training of the fern classifier.

Warning: the method can take up to several minutes depending on the parameters of the classifier and on the size of the image.

Parameters

_I	: The gray scaled image where the reference points are computed.
_iP	: The top left corner of the rectangle.
_height	: height of the rectangle (in pixel).
_width	: width of the rectangle (in pixel).

Returns: the number of reference points.

Implements vpBasicKeyPoint.

Definition at line 222 of file vpFernClassifier.cpp.

References vpImageTools::createSubImage(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImagePoint::get_u(), vpImagePoint::get_v(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), modelROI_Ref, vpImageException::notInTheImage, objKeypoints, setImage(), train(), and vpTRACE.

unsigned int vpFernClassifier::buildReference	(	const vpImage< unsigned char > &	_I,
		const vpRect &	_rectangle
	)

virtual

Build the list of reference points. The computation of the points is made only on a part of the image. This part is a rectangle. The parameters of this rectangle must be given in pixel. It also includes the training of the fern classifier.

Warning: the method can take up to several minutes depending on the parameters of the classifier and on the size of the image.

Parameters

_I	: The gray scaled image where the reference points are computed.
_rectangle	: The rectangle which defines the interesting part of the image.

Returns: The number of reference points.

Implements vpBasicKeyPoint.

Definition at line 269 of file vpFernClassifier.cpp.

References buildReference(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), vpRect::getWidth(), vpImagePoint::set_i(), and vpImagePoint::set_j().

void vpFernClassifier::display	(	const vpImage< unsigned char > &	_Iref,
		const vpImage< unsigned char > &	_Icurrent,
		unsigned int	size = `3`
	)

virtual

This function displays the matched reference points and the matched points computed in the current image. The reference points are displayed in the image Ireference and the matched points coming from the current image are displayed in the image Icurrent. It is possible to set Ireference and Icurrent with the same image when calling the method.

Parameters

_Iref	: The image where the matched reference points are displayed.
_Icurrent	: The image where the matched points computed in the current image are displayed.
size	: Size in pixels of the cross that is used to display matched points.

Implements vpBasicKeyPoint.

Examples:: fernClassifier.cpp.

Definition at line 434 of file vpFernClassifier.cpp.

References vpBasicKeyPoint::currentImagePointsList, vpDisplay::displayCross(), vpColor::green, vpBasicKeyPoint::matchedReferencePoints, vpColor::red, and vpBasicKeyPoint::referenceImagePointsList.

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

virtual

This function displays only the matched points computed in the current image. They are displayed in the image Icurrent.

Parameters

_Icurrent	: the gray scaled image for the display
size	: Size in pixels of the cross that is used to display matched points.
color	: Color used to display the matched points.

Implements vpBasicKeyPoint.

Definition at line 456 of file vpFernClassifier.cpp.

References vpBasicKeyPoint::currentImagePointsList, vpDisplay::displayCross(), and vpBasicKeyPoint::matchedReferencePoints.

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.

bool vpFernClassifier::getBlurSetting ( )

inline

Return the blur option. The Blur option is used to activate a filter used to blur the input image. The blurring can improve the robustness of the detection.

Returns: the value of the blur option.

Definition at line 291 of file vpFernClassifier.h.

Referenced by matchPoint(), and train().

int vpFernClassifier::getBlurSigma ( )

inline

Return the blur sigma (for the filter) option.

Returns: The value of the sigma for the blur filter.

Definition at line 298 of file vpFernClassifier.h.

Referenced by matchPoint(), and train().

int vpFernClassifier::getBlurSize ( )

inline

return the blur size (for the filter) option

Returns: the value of the radius for the blur filter

Definition at line 305 of file vpFernClassifier.h.

Referenced by matchPoint(), and train().

const std::vector<cv::Point2f>& vpFernClassifier::getCurPt ( ) const

inline

Return a reference on the vector of current points in the OpenCV format

Returns: the list of current points

Definition at line 319 of file vpFernClassifier.h.

Referenced by vpPlanarObjectDetector::matchPoint().

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.

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-surf-homography.cpp, and tutorial-matching-surf.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.

cv::Rect vpFernClassifier::getModelROI ( ) const

inline

Return the region of interest in the OpenCV format

Definition at line 324 of file vpFernClassifier.h.

Referenced by vpPlanarObjectDetector::load().

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.

const std::vector<cv::Point2f>& vpFernClassifier::getRefPt ( ) const

inline

Return a reference on the vector of reference points in the OpenCV format

Returns: the list of reference points

Definition at line 312 of file vpFernClassifier.h.

Referenced by vpPlanarObjectDetector::matchPoint().

void vpFernClassifier::init ( )

protectedvirtual

initialise any OpenCV parameters

The classifier need to be trained again or to be loaded from an external file.

Implements vpBasicKeyPoint.

Definition at line 111 of file vpFernClassifier.cpp.

References blurImage, ClassifierSize, curIplImg, dist, hasLearn, nbClassfier, nbMinPoint, nbOctave, nbPoints, nbView, patchSize, radius, radiusBlur, sigmaBlur, and threshold.

void vpFernClassifier::load	(	const std::string &	_dataFile,
		const std::string &
	)

load the Fern classifier

Load and initialize the Fern classifier and load the 3D and 2D keypoints. It can take up to sevral seconds.

Parameters

_dataFile : The name of the data filename (very large text file). It can have any file extension.

Examples:: fernClassifier.cpp.

Definition at line 475 of file vpFernClassifier.cpp.

References dist, fernClassifier, hasLearn, ldetector, modelPoints, modelROI, nbOctave, nbView, patchSize, radius, and threshold.

Referenced by vpPlanarObjectDetector::load(), and vpFernClassifier().

unsigned int vpFernClassifier::matchPoint ( const vpImage< unsigned char > & _I )

virtual

Compute the points of interest in the current image and try to match them using the trained classifier. The matched pairs can be found with the getMatchedPointByRef function.

Exceptions

vpException::notInitialised if the classifier has not been trained.

Parameters

_I	: The gray scaled image where the points are computed.

Returns: The number of point which have been matched.

Implements vpBasicKeyPoint.

Examples:: fernClassifier.cpp.

Definition at line 292 of file vpFernClassifier.cpp.

References curIplImg, curPt, vpBasicKeyPoint::currentImagePointsList, fernClassifier, getBlurSetting(), getBlurSigma(), getBlurSize(), hasLearn, imgKeypoints, ldetector, vpBasicKeyPoint::matchedReferencePoints, modelPoints, vpException::notInitialized, refPt, setImage(), and vpERROR_TRACE.

Referenced by vpPlanarObjectDetector::matchPoint(), and matchPoint().

unsigned int vpFernClassifier::matchPoint	(	const vpImage< unsigned char > &	_I,
		const vpImagePoint &	_iP,
		const unsigned int	_height,
		const unsigned int	_width
	)

virtual

Compute the points of interest in the specified region of the current image and try to recognise them using the trained classifier. The matched pairs can be found with the getMatchedPointByRef function. The homography between the two planar surfaces is also computed.

Parameters

_I	: The gray scaled image where the points are computed.
_iP	: the top left corner of the rectangle defining the ROI
_height	: the height of the ROI
_width	: the width of the ROI

Returns: the number of point which have been matched.

Implements vpBasicKeyPoint.

Definition at line 372 of file vpFernClassifier.cpp.

References vpImageTools::createSubImage(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), matchPoint(), vpImageException::notInTheImage, and vpTRACE.

unsigned int vpFernClassifier::matchPoint	(	const vpImage< unsigned char > &	_I,
		const vpRect &	_rectangle
	)

virtual

Compute the points of interest in the specified region of the current image and try to recognise them using the trained classifier. The matched pairs can be found with the getMatchedPointByRef function. The homography between the two planar surfaces is also computed.

Parameters

_I	: The gray scaled image where the points are computed.
_rectangle	: the rectangle defining the ROI

Returns: the number of point which have been matched.

Implements vpBasicKeyPoint.

Definition at line 405 of file vpFernClassifier.cpp.

References vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), vpRect::getWidth(), matchPoint(), vpImagePoint::set_i(), and vpImagePoint::set_j().

void vpFernClassifier::record	(	const std::string &	_objectName,
		const std::string &	_dataFile
	)

record the Ferns classifier in the text file

Parameters

_objectName	: The name of the object to store in the data file.
_dataFile	: The name of the data filename (very large text file). It can have any file extension.

Examples:: fernClassifier.cpp.

Definition at line 505 of file vpFernClassifier.cpp.

References fernClassifier, ldetector, modelPoints, and modelROI_Ref.

Referenced by vpPlanarObjectDetector::recordDetector().

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 vpFernClassifier::setBlurSetting ( const bool _blur )

inline

The image is blurred before being processed. This solution can lead to a better recognition rate.

Parameters

_blur : the new option for the blur

Definition at line 281 of file vpFernClassifier.h.

void vpFernClassifier::setBlurSettings	(	const bool	_blur,
		int	_sigma,
		int	_size
	)

inline

void vpFernClassifier::setImage ( const vpImage< unsigned char > & _I )

protected

Set the current image. This method allows to convert a image from the ViSP format to the OpenCV one.

Parameters

_I	: the input image.

Definition at line 534 of file vpFernClassifier.cpp.

References vpImage< Type >::bitmap, vpImageConvert::convert(), curIplImg, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpException::memoryAllocationError, and vpException::notInitialized.

Referenced by buildReference(), and matchPoint().

void vpFernClassifier::train ( )

protected

Train the classifier.

Definition at line 137 of file vpFernClassifier.cpp.

References curIplImg, dist, fernClassifier, gen, getBlurSetting(), getBlurSigma(), getBlurSize(), hasLearn, ldetector, modelPoints, modelROI, modelROI_Ref, nbOctave, nbView, objKeypoints, patchSize, radius, vpBasicKeyPoint::referenceImagePointsList, and threshold.

Referenced by buildReference().

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(), and buildReference().

bool vpFernClassifier::blurImage

protected

Flag to specify whether the reference image have to be blurred or not in order to improve the recognition rate.

Definition at line 215 of file vpFernClassifier.h.

Referenced by init().

int vpFernClassifier::ClassifierSize

protected

Size of the classifier.

Definition at line 203 of file vpFernClassifier.h.

Referenced by init().

IplImage* vpFernClassifier::curIplImg

protected

The current image in the OpenCV format.

Definition at line 225 of file vpFernClassifier.h.

Referenced by init(), matchPoint(), setImage(), train(), and ~vpFernClassifier().

std::vector<cv::Point2f> vpFernClassifier::curPt

protected

Definition at line 238 of file vpFernClassifier.h.

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

int vpFernClassifier::dist

protected

Minimal distance between two points.

Definition at line 199 of file vpFernClassifier.h.

Referenced by init(), load(), and train().

cv::FernClassifier vpFernClassifier::fernClassifier

protected

The Fern classifier.

Definition at line 184 of file vpFernClassifier.h.

Referenced by load(), matchPoint(), record(), and train().

cv::PatchGenerator vpFernClassifier::gen

protected

The patch generator (OpenCV format).

Definition at line 187 of file vpFernClassifier.h.

Referenced by train().

bool vpFernClassifier::hasLearn

protected

Flag to indicate whether the classifier has been trained or not.

Definition at line 191 of file vpFernClassifier.h.

Referenced by init(), load(), matchPoint(), and train().

std::vector<cv::KeyPoint> vpFernClassifier::imgKeypoints

protected

the vector containing the points in the current image.

Definition at line 236 of file vpFernClassifier.h.

Referenced by matchPoint().

cv::LDetector vpFernClassifier::ldetector

protected

The points of interest detector.

Definition at line 181 of file vpFernClassifier.h.

Referenced by load(), matchPoint(), record(), and train().

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(), display(), vpKeyPointSurf::matchPoint(), and matchPoint().

std::vector<cv::KeyPoint> vpFernClassifier::modelPoints

protected

the vector containing the points in the model.

Definition at line 234 of file vpFernClassifier.h.

Referenced by load(), matchPoint(), record(), and train().

cv::Rect vpFernClassifier::modelROI

protected

the ROI for the reference image.

Definition at line 232 of file vpFernClassifier.h.

Referenced by load(), and train().

cv::Rect vpFernClassifier::modelROI_Ref

protected

the ROI in the reference image.

Definition at line 230 of file vpFernClassifier.h.

Referenced by buildReference(), record(), and train().

int vpFernClassifier::nbClassfier

protected

Number of classifier.

Definition at line 201 of file vpFernClassifier.h.

Referenced by init().

unsigned int vpFernClassifier::nbMinPoint

protected

Number of minimum point below which the homography is not estimated (must be at least four)

Definition at line 222 of file vpFernClassifier.h.

Referenced by init().

int vpFernClassifier::nbOctave

protected

Number of octave for the multi scale.

Definition at line 205 of file vpFernClassifier.h.

Referenced by init(), load(), and train().

int vpFernClassifier::nbPoints

protected

Maximal number of points.

Definition at line 211 of file vpFernClassifier.h.

Referenced by init().

int vpFernClassifier::nbView

protected

Number of view to generate for the training.

Definition at line 197 of file vpFernClassifier.h.

Referenced by init(), load(), and train().

std::vector<cv::KeyPoint> vpFernClassifier::objKeypoints

protected

keypoints detected in the reference image.

Definition at line 228 of file vpFernClassifier.h.

Referenced by buildReference(), and train().

int vpFernClassifier::patchSize

protected

Size of the patch.

Definition at line 207 of file vpFernClassifier.h.

Referenced by init(), load(), and train().

int vpFernClassifier::radius

protected

Radius for the detector.

Definition at line 209 of file vpFernClassifier.h.

Referenced by init(), load(), and train().

int vpFernClassifier::radiusBlur

protected

Radius of the kernel used to blur the image.

Definition at line 217 of file vpFernClassifier.h.

Referenced by init().

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(), vpKeyPointSurf::display(), display(), vpKeyPointSurf::getDescriptorParamReferencePoint(), vpKeyPointSurf::getDescriptorReferencePoint(), vpKeyPointSurf::getLaplacianReferencePoint(), and train().

std::vector<cv::Point2f> vpFernClassifier::refPt

protected

vector in the OpenCV format to be used by the detector.

Definition at line 238 of file vpFernClassifier.h.

Referenced by matchPoint().

int vpFernClassifier::sigmaBlur

protected

Sigma of the kernel used to blur the image.

Definition at line 219 of file vpFernClassifier.h.

Referenced by init().

int vpFernClassifier::threshold

protected

Threshold to accept or reject points (usually around 20)

Definition at line 195 of file vpFernClassifier.h.

Referenced by init(), load(), and train().

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