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vpKeyPoint Class Reference
vision: Computer vision module » Keypoints detection, matching and classifiers

#include <visp3/vision/vpKeyPoint.h>

+ Inheritance diagram for vpKeyPoint:

Public Types

enum  vpFilterMatchingType {
  constantFactorDistanceThreshold, stdDistanceThreshold, ratioDistanceThreshold, stdAndRatioDistanceThreshold,
  noFilterMatching
}
 
enum  vpDetectionMethodType { detectionThreshold, detectionScore }
 
enum  vpImageFormatType { jpgImageFormat, pngImageFormat, ppmImageFormat, pgmImageFormat }
 
enum  vpFeatureDetectorType {
  DETECTOR_FAST, DETECTOR_MSER, DETECTOR_ORB, DETECTOR_BRISK,
  DETECTOR_GFTT, DETECTOR_SimpleBlob, DETECTOR_SIFT, DETECTOR_SURF,
  DETECTOR_KAZE, DETECTOR_AKAZE, DETECTOR_AGAST, DETECTOR_TYPE_SIZE
}
 
enum  vpFeatureDescriptorType {
  DESCRIPTOR_ORB, DESCRIPTOR_BRISK, DESCRIPTOR_SIFT, DESCRIPTOR_SURF,
  DESCRIPTOR_KAZE, DESCRIPTOR_AKAZE, DESCRIPTOR_TYPE_SIZE
}
 

Public Member Functions

 vpKeyPoint (const vpFeatureDetectorType &detectorType, const vpFeatureDescriptorType &descriptorType, const std::string &matcherName, const vpFilterMatchingType &filterType=ratioDistanceThreshold)
 
 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, const bool append=false, const int class_id=-1)
 
void buildReference (const vpImage< unsigned char > &I, const std::vector< cv::KeyPoint > &trainKeyPoint, const cv::Mat &trainDescriptors, const std::vector< cv::Point3f > &points3f, const bool append=false, const int class_id=-1)
 
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)(const vpHomogeneousMatrix &)=NULL)
 
bool computePose (const std::vector< vpPoint > &objectVpPoints, vpHomogeneousMatrix &cMo, std::vector< vpPoint > &inliers, double &elapsedTime, bool(*func)(const vpHomogeneousMatrix &)=NULL)
 
bool computePose (const std::vector< vpPoint > &objectVpPoints, vpHomogeneousMatrix &cMo, std::vector< vpPoint > &inliers, std::vector< unsigned int > &inlierIndex, double &elapsedTime, bool(*func)(const 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, const vpRect &rectangle=vpRect())
 
void detect (const cv::Mat &matImg, std::vector< cv::KeyPoint > &keyPoints, const cv::Mat &mask=cv::Mat())
 
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, std::vector< cv::Point3f > *trainPoints=NULL)
 
void extract (const cv::Mat &matImg, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, std::vector< cv::Point3f > *trainPoints=NULL)
 
void extract (const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, double &elapsedTime, std::vector< cv::Point3f > *trainPoints=NULL)
 
void extract (const cv::Mat &matImg, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, double &elapsedTime, std::vector< cv::Point3f > *trainPoints=NULL)
 
vpMatrix getCovarianceMatrix () const
 
double getDetectionTime () const
 
cv::Ptr< cv::FeatureDetector > getDetector (const vpFeatureDetectorType &type) const
 
cv::Ptr< cv::FeatureDetector > getDetector (const std::string &name) const
 
std::map< vpFeatureDetectorType, std::string > getDetectorNames () const
 
double getExtractionTime () const
 
cv::Ptr< cv::DescriptorExtractor > getExtractor (const vpFeatureDescriptorType &type) const
 
cv::Ptr< cv::DescriptorExtractor > getExtractor (const std::string &name) const
 
std::map< vpFeatureDescriptorType, std::string > getExtractorNames () const
 
vpImageFormatType getImageFormat () const
 
double getMatchingTime () const
 
cv::Ptr< cv::DescriptorMatcher > getMatcher () 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, bool(*func)(const vpHomogeneousMatrix &)=NULL, const vpRect &rectangle=vpRect())
 
bool matchPoint (const vpImage< unsigned char > &I, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, double &error, double &elapsedTime, bool(*func)(const vpHomogeneousMatrix &)=NULL, const vpRect &rectangle=vpRect())
 
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, const vpRect &rectangle=vpRect())
 
bool matchPointAndDetect (const vpImage< unsigned char > &I, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, double &error, double &elapsedTime, vpRect &boundingBox, vpImagePoint &centerOfGravity, bool(*func)(const vpHomogeneousMatrix &)=NULL, const vpRect &rectangle=vpRect())
 
void reset ()
 
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 vpFeatureDetectorType &detectorType)
 
void setDetector (const std::string &detectorName)
 
void setDetectors (const std::vector< std::string > &detectorNames)
 
void setExtractor (const vpFeatureDescriptorType &extractorType)
 
void setExtractor (const std::string &extractorName)
 
void setExtractors (const std::vector< std::string > &extractorNames)
 
void setImageFormat (const vpImageFormatType &imageFormat)
 
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 setRansacFilterFlag (const vpPose::RANSAC_FILTER_FLAGS &flag)
 
void setRansacIteration (const int nbIter)
 
void setRansacParallel (const bool parallel)
 
void setRansacParallelNbThreads (const unsigned int nthreads)
 
void setRansacReprojectionError (const double reprojectionError)
 
void setRansacMinInlierCount (const int minCount)
 
void setRansacThreshold (const double threshold)
 
void setUseAffineDetection (const bool useAffine)
 
void setUseMatchTrainToQuery (const bool useMatchTrainToQuery)
 
void setUseRansacConsensusPercentage (const bool usePercentage)
 
void setUseRansacVVS (const bool ransacVVS)
 
void setUseSingleMatchFilter (const bool singleMatchFilter)
 
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 > &candidates, const std::vector< vpPolygon > &polygons, const 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 > &candidates, const std::vector< vpPolygon > &polygons, const std::vector< std::vector< vpPoint > > &roisPt, std::vector< vpPoint > &points, cv::Mat *descriptors=NULL)
 
static void compute3DForPointsOnCylinders (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< cv::KeyPoint > &candidates, const std::vector< vpCylinder > &cylinders, const std::vector< std::vector< std::vector< vpImagePoint > > > &vectorOfCylinderRois, std::vector< cv::Point3f > &points, cv::Mat *descriptors=NULL)
 
static void compute3DForPointsOnCylinders (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< vpImagePoint > &candidates, const std::vector< vpCylinder > &cylinders, const std::vector< std::vector< std::vector< vpImagePoint > > > &vectorOfCylinderRois, 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. Thus to enable this class OpenCV should be installed. Installation instructions are provided here https://visp.inria.fr/3rd_opencv.

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 <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/vision/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 <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/vision/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:
testKeyPoint-2.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint-7.cpp, testKeyPoint.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 228 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 247 of file vpKeyPoint.h.

enum vpKeyPoint::vpFeatureDescriptorType

Predefined constant for descriptor extraction type.

Enumerator
DESCRIPTOR_ORB 
DESCRIPTOR_BRISK 
DESCRIPTOR_SIFT 
DESCRIPTOR_SURF 
DESCRIPTOR_KAZE 
DESCRIPTOR_AKAZE 
DESCRIPTOR_TYPE_SIZE 
Examples:
testKeyPoint-6.cpp.

Definition at line 292 of file vpKeyPoint.h.

enum vpKeyPoint::vpFeatureDetectorType

Predefined constant for feature detection type.

Enumerator
DETECTOR_FAST 
DETECTOR_MSER 
DETECTOR_ORB 
DETECTOR_BRISK 
DETECTOR_GFTT 
DETECTOR_SimpleBlob 
DETECTOR_SIFT 
DETECTOR_SURF 
DETECTOR_KAZE 
DETECTOR_AKAZE 
DETECTOR_AGAST 
DETECTOR_TYPE_SIZE 
Examples:
testKeyPoint-5.cpp.

Definition at line 264 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 233 of file vpKeyPoint.h.

enum vpKeyPoint::vpImageFormatType

Predefined constant for training image format.

Enumerator
jpgImageFormat 

Save training images in JPG format.

pngImageFormat 

Save training images in PNG format.

ppmImageFormat 

Save training images in PPM format.

pgmImageFormat 

Save training images in PGM format.

Definition at line 256 of file vpKeyPoint.h.

Constructor & Destructor Documentation

vpKeyPoint::vpKeyPoint ( const vpFeatureDetectorType &  detectorType,
const vpFeatureDescriptorType &  descriptorType,
const std::string &  matcherName,
const vpFilterMatchingType &  filterType = ratioDistanceThreshold 
)

Constructor to initialize the specified detector, descriptor, matcher and filtering method.

Parameters
detectorType: Type of feature detector.
descriptorType: Type of the descriptor extractor.
matcherName: Name of the matcher.
filterType: Filtering matching method chosen.

Definition at line 79 of file vpKeyPoint.cpp.

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 the specified detector, descriptor, 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 115 of file vpKeyPoint.cpp.

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 151 of file vpKeyPoint.cpp.

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:
testKeyPoint-7.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 236 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 247 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 261 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,
const bool  append = false,
const int  class_id = -1 
)

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.
class_id: The class id to be set to the input cv::KeyPoint if != -1.

Definition at line 331 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,
const bool  append = false,
const int  class_id = -1 
)

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.
class_id: The class id to be set to the input cv::KeyPoint if != -1.

Definition at line 377 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 in the world/object frame 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 relationship 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 in the camera frame representing a planar face.
cam: Camera parameters.
cMo: Homogeneous matrix between the world and the camera frames.
point: 3D coordinate in the world/object frame computed.

Definition at line 444 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 in the world/object frame 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 relationship 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 in the camera frame representing a planar face.
cam: Camera parameters.
cMo: Homogeneous matrix between the world and the camera frames.
point: 3D coordinate in the world/object frame computed.

Definition at line 486 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,
const std::vector< vpPolygon > &  polygons,
const 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 in the world/object frame 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, with the 3D coordinates known in the camera frame.
points: Output list of computed 3D coordinates (in the world/object frame) of keypoints located only on faces.
descriptors: Optional parameter, pointer to the descriptors to filter.
Examples:
testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 528 of file vpKeyPoint.cpp.

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

void vpKeyPoint::compute3DForPointsInPolygons ( const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
std::vector< vpImagePoint > &  candidates,
const std::vector< vpPolygon > &  polygons,
const 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 in the world/object frame 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, with the 3D coordinates known in the camera frame.
points: Output list of computed 3D coordinates (in the world/object frame) of vpImagePoint located only on faces.
descriptors: Optional parameter, pointer to the descriptors to filter

Definition at line 592 of file vpKeyPoint.cpp.

References compute3D().

void vpKeyPoint::compute3DForPointsOnCylinders ( const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
std::vector< cv::KeyPoint > &  candidates,
const std::vector< vpCylinder > &  cylinders,
const std::vector< std::vector< std::vector< vpImagePoint > > > &  vectorOfCylinderRois,
std::vector< cv::Point3f > &  points,
cv::Mat *  descriptors = NULL 
)
static

Keep only keypoints located on cylinders and compute the 3D coordinates in the world/object frame given the 2D image coordinates.

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 cylinders.
cylinders: List of vpCylinder corresponding of the cylinder objects in the scene, projected in the camera frame.
vectorOfCylinderRois: For each cylinder, the corresponding list of bounding box.
points: Output list of computed 3D coordinates in the world/object frame for each keypoint located on a cylinder.
descriptors: Optional parameter, pointer to the descriptors to filter.

Definition at line 649 of file vpKeyPoint.cpp.

References vpPixelMeterConversion::convertPoint(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpHomogeneousMatrix::inverse(), vpPolygon::isInside(), vpMath::isNaN(), and vpPoint::setWorldCoordinates().

void vpKeyPoint::compute3DForPointsOnCylinders ( const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
std::vector< vpImagePoint > &  candidates,
const std::vector< vpCylinder > &  cylinders,
const std::vector< std::vector< std::vector< vpImagePoint > > > &  vectorOfCylinderRois,
std::vector< vpPoint > &  points,
cv::Mat *  descriptors = NULL 
)
static

Keep only vpImagePoint located on cylinders and compute the 3D coordinates in the world/object frame given the 2D image coordinates.

Parameters
cMo: Homogeneous matrix between the world and the camera frames.
cam: Camera parameters.
candidates: In input, list of vpImagePoint located in the image, in output, list of vpImagePoint only located on cylinders.
cylinders: List of vpCylinder corresponding of the cylinder objects in the scene, projected in the camera frame.
vectorOfCylinderRois: For each cylinder, the corresponding list of bounding box.
points: Output list of computed 3D coordinates in the world/object frame for each vpImagePoint located on a cylinder.
descriptors: Optional parameter, pointer to the descriptors to filter.

Definition at line 724 of file vpKeyPoint.cpp.

References vpPixelMeterConversion::convertPoint(), vpHomogeneousMatrix::inverse(), vpPolygon::isInside(), vpMath::isNaN(), and vpPoint::setWorldCoordinates().

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(*)(const 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 797 of file vpKeyPoint.cpp.

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

Referenced by computePose(), and matchPoint().

bool vpKeyPoint::computePose ( const std::vector< vpPoint > &  objectVpPoints,
vpHomogeneousMatrix &  cMo,
std::vector< vpPoint > &  inliers,
double &  elapsedTime,
bool(*)(const 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.
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 pose has been computed, false otherwise (not enough points, or size list mismatch).

Definition at line 893 of file vpKeyPoint.cpp.

References computePose().

bool vpKeyPoint::computePose ( const std::vector< vpPoint > &  objectVpPoints,
vpHomogeneousMatrix &  cMo,
std::vector< vpPoint > &  inliers,
std::vector< unsigned int > &  inlierIndex,
double &  elapsedTime,
bool(*)(const 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 inlier points.
inlierIndex: List of inlier index.
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 913 of file vpKeyPoint.cpp.

References vpPose::addPoint(), vpPose::computePose(), vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpPose::getCovarianceMatrix(), vpPose::getRansacInlierIndex(), vpPose::getRansacInliers(), vpTime::measureTimeMs(), vpForwardProjection::project(), vpPose::RANSAC, vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpPose::setCovarianceComputation(), vpPose::setNbParallelRansacThreads(), vpPose::setRansacFilterFlag(), vpPose::setRansacMaxTrials(), vpPose::setRansacNbInliersToReachConsensus(), vpPose::setRansacThreshold(), vpPose::setUseParallelRansac(), 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.
Examples:
tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 1025 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 1044 of file vpKeyPoint.cpp.

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

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

Detect keypoints in the image.

Parameters
I: Input image.
keyPoints: Output list of the detected keypoints.
rectangle: Optional rectangle of the region of interest.
Examples:
testKeyPoint-5.cpp, testKeyPoint-6.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 1097 of file vpKeyPoint.cpp.

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

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

Detect keypoints in the image.

Parameters
matImg: Input image.
keyPoints: Output list of the detected keypoints.
mask: Optional 8-bit integer mask to detect only where mask[i][j] != 0.

Definition at line 1111 of file vpKeyPoint.cpp.

References detect().

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.

Definition at line 1125 of file vpKeyPoint.cpp.

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

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 8-bit integer mask to detect only where mask[i][j] != 0.

Definition at line 1152 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 3410 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 1175 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 1195 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.
Examples:
tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 1216 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 1254 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, vpMath::round(), and vpImagePoint::set_ij().

void vpKeyPoint::extract ( const vpImage< unsigned char > &  I,
std::vector< cv::KeyPoint > &  keyPoints,
cv::Mat &  descriptors,
std::vector< cv::Point3f > *  trainPoints = NULL 
)

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.
trainPoints: Pointer to the list of 3D train points, when a keypoint cannot be extracted, we need to remove the corresponding 3D point.
Examples:
testKeyPoint-6.cpp.

Definition at line 1374 of file vpKeyPoint.cpp.

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

void vpKeyPoint::extract ( const cv::Mat &  matImg,
std::vector< cv::KeyPoint > &  keyPoints,
cv::Mat &  descriptors,
std::vector< cv::Point3f > *  trainPoints = NULL 
)

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.
trainPoints: Pointer to the list of 3D train points, when a keypoint cannot be extracted, we need to remove the corresponding 3D point.

Definition at line 1391 of file vpKeyPoint.cpp.

References extract().

void vpKeyPoint::extract ( const vpImage< unsigned char > &  I,
std::vector< cv::KeyPoint > &  keyPoints,
cv::Mat &  descriptors,
double &  elapsedTime,
std::vector< cv::Point3f > *  trainPoints = NULL 
)

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.
trainPoints: Pointer to the list of 3D train points, when a keypoint cannot be extracted, we need to remove the corresponding 3D point.

Definition at line 1408 of file vpKeyPoint.cpp.

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

void vpKeyPoint::extract ( const cv::Mat &  matImg,
std::vector< cv::KeyPoint > &  keyPoints,
cv::Mat &  descriptors,
double &  elapsedTime,
std::vector< cv::Point3f > *  trainPoints = NULL 
)

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.
trainPoints: Pointer to the list of 3D train points, when a keypoint cannot be extracted, we need to remove the corresponding 3D point.

Definition at line 1426 of file vpKeyPoint.cpp.

References constantFactorDistanceThreshold, vpTime::measureTimeMs(), and stdAndRatioDistanceThreshold.

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 107 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 424 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 452 of file vpKeyPoint.h.

cv::Ptr<cv::FeatureDetector> vpKeyPoint::getDetector ( const vpFeatureDetectorType &  type) const
inline

Get the detector pointer.

Parameters
type: Type of the detector.
Returns
The detector or NULL if the type passed in parameter does not exist.
Examples:
tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 461 of file vpKeyPoint.h.

cv::Ptr<cv::FeatureDetector> vpKeyPoint::getDetector ( const std::string &  name) const
inline

Get the detector pointer.

Parameters
name: Name of the detector.
Returns
The detector or NULL if the name passed in parameter does not exist.

Definition at line 487 of file vpKeyPoint.h.

std::map<vpFeatureDetectorType, std::string> vpKeyPoint::getDetectorNames ( ) const
inline

Get the feature detector name associated to the type.

Examples:
testKeyPoint-5.cpp.

Definition at line 501 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 508 of file vpKeyPoint.h.

cv::Ptr<cv::DescriptorExtractor> vpKeyPoint::getExtractor ( const vpFeatureDescriptorType &  type) const
inline

Get the extractor pointer.

Parameters
type: Type of the descriptor extractor.
Returns
The descriptor extractor or NULL if the name passed in parameter does not exist.
Examples:
testKeyPoint-6.cpp.

Definition at line 517 of file vpKeyPoint.h.

cv::Ptr<cv::DescriptorExtractor> vpKeyPoint::getExtractor ( const std::string &  name) const
inline

Get the extractor pointer.

Parameters
name: Name of the descriptor extractor.
Returns
The descriptor extractor or NULL if the name passed in parameter does not exist.

Definition at line 543 of file vpKeyPoint.h.

std::map<vpFeatureDescriptorType, std::string> vpKeyPoint::getExtractorNames ( ) const
inline

Get the feature descriptor extractor name associated to the type.

Examples:
testKeyPoint-6.cpp.

Definition at line 557 of file vpKeyPoint.h.

vpImageFormatType vpKeyPoint::getImageFormat ( ) const
inline

Get the image format to use when saving training images.

Returns
The image format.

Definition at line 564 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();
// Get the first matched reference point index in the complete reference point list
int index = surf.getIndexInAllReferencePointList(1);
// Get the first matched reference point
referencePoint2 = referencePointsList[index];

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, and tutorial-matching-keypoint.cpp.

Definition at line 138 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::Ptr<cv::DescriptorMatcher> vpKeyPoint::getMatcher ( ) const
inline

Get the matcher pointer.

Returns
The matcher pointer.

Definition at line 578 of file vpKeyPoint.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 586 of file vpKeyPoint.h.

double vpKeyPoint::getMatchingTime ( ) const
inline

Get the elapsed time to compute the matching.

Returns
The elapsed time.

Definition at line 571 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 595 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 611 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 1671 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 1683 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 621 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 629 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 1694 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 1702 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.
Examples:
tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 639 of file vpKeyPoint.h.

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

Get the list of Ransac outliers.

Returns
The list of Ransac outliers.
Examples:
tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 646 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 117 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).
Examples:
testKeyPoint-7.cpp.

Definition at line 654 of file vpKeyPoint.h.

References vpBasicKeyPoint::matchPoint().

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).
Examples:
testKeyPoint-7.cpp.

Definition at line 1709 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 1716 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 1724 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 1732 of file vpKeyPoint.cpp.

References vpException::badValue, DESCRIPTOR_AKAZE, DESCRIPTOR_BRISK, DESCRIPTOR_KAZE, DESCRIPTOR_ORB, DESCRIPTOR_SIFT, DESCRIPTOR_SURF, DETECTOR_AGAST, DETECTOR_AKAZE, DETECTOR_BRISK, DETECTOR_FAST, DETECTOR_GFTT, DETECTOR_KAZE, DETECTOR_MSER, DETECTOR_ORB, DETECTOR_SIFT, DETECTOR_SimpleBlob, DETECTOR_SURF, vpException::fatalError, initMatcher(), ratioDistanceThreshold, and stdAndRatioDistanceThreshold.

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 2174 of file vpKeyPoint.cpp.

References vpException::fatalError.

Referenced by getTrainPoints().

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.
Examples:
tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 2237 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 2253 of file vpKeyPoint.cpp.

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

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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 2322 of file vpKeyPoint.cpp.

References vpXmlConfigParserKeyPoint::constantFactorDistanceThreshold, constantFactorDistanceThreshold, vpXmlConfigParserKeyPoint::getDetectorName(), vpXmlConfigParserKeyPoint::getExtractorName(), vpXmlConfigParserKeyPoint::getMatcherName(), vpXmlConfigParserKeyPoint::getMatchingFactorThreshold(), vpXmlConfigParserKeyPoint::getMatchingMethod(), vpXmlConfigParserKeyPoint::getMatchingRatioThreshold(), vpXmlConfigParserKeyPoint::getNbRansacIterations(), vpXmlConfigParserKeyPoint::getNbRansacMinInlierCount(), vpXmlConfigParserKeyPoint::getRansacConsensusPercentage(), vpXmlConfigParserKeyPoint::getRansacReprojectionError(), vpXmlConfigParserKeyPoint::getRansacThreshold(), vpXmlConfigParserKeyPoint::getUseRansacConsensusPercentage(), vpXmlConfigParserKeyPoint::getUseRansacVVSPoseEstimation(), vpException::ioError, vpXmlConfigParserKeyPoint::noFilterMatching, noFilterMatching, vpXmlConfigParserKeyPoint::parse(), vpXmlConfigParserKeyPoint::ratioDistanceThreshold, ratioDistanceThreshold, vpXmlConfigParserKeyPoint::stdAndRatioDistanceThreshold, stdAndRatioDistanceThreshold, vpXmlConfigParserKeyPoint::stdDistanceThreshold, and stdDistanceThreshold.

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:
testKeyPoint-7.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 2399 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, vpConvert::convertFromOpenCV(), vpIoTools::getParent(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpImageIo::read(), vpIoTools::readBinaryValueLE(), 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 2828 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-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 2887 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 2899 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 2913 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,
bool(*)(const vpHomogeneousMatrix &)  func = NULL,
const vpRect &  rectangle = vpRect() 
)

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
func: Function pointer to filter the pose in Ransac pose estimation, if we want to eliminate the poses which do not respect some criterion
rectangle: Rectangle corresponding to the ROI (Region of Interest) to consider
Returns
True if the matching and the pose estimation are OK, false otherwise

Definition at line 3007 of file vpKeyPoint.cpp.

References matchPoint().

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

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
rectangle: Rectangle corresponding to the ROI (Region of Interest) to consider
Returns
True if the matching and the pose estimation are OK, false otherwise

Definition at line 3029 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, computePose(), vpConvert::convertFromOpenCV(), vpPixelMeterConversion::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 *  detection_score = NULL,
const vpRect &  rectangle = vpRect() 
)

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
detection_score: Pointer to the value of the detection score if not null
rectangle: Rectangle corresponding to the ROI (Region of Interest) to consider
Returns
True if the object is present, false otherwise

Definition at line 3219 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(*)(const vpHomogeneousMatrix &)  func = NULL,
const vpRect &  rectangle = vpRect() 
)

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
rectangle: Rectangle corresponding to the ROI (Region of Interest) to consider
Returns
True if the matching and the pose estimation are OK, false otherwise.

Definition at line 3357 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 99 of file vpBasicKeyPoint.h.

void vpKeyPoint::reset ( )

Reset the instance as if we would declare another vpKeyPoint variable.

Examples:
testKeyPoint-7.cpp.

Definition at line 3544 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::_reference_computed, vpBasicKeyPoint::currentImagePointsList, detectionScore, jpgImageFormat, vpBasicKeyPoint::matchedReferencePoints, vpPose::NO_FILTER, ratioDistanceThreshold, and vpBasicKeyPoint::referenceImagePointsList.

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:
testKeyPoint-7.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 3620 of file vpKeyPoint.cpp.

References vpException::fatalError, vpIoTools::getParent(), vpException::ioError, jpgImageFormat, vpIoTools::makeDirectory(), pgmImageFormat, pngImageFormat, ppmImageFormat, vpImageIo::write(), and vpIoTools::writeBinaryValueLE().

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 708 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 727 of file vpKeyPoint.h.

void vpKeyPoint::setDetector ( const vpFeatureDetectorType &  detectorType)
inline

Set and initialize a detector.

Parameters
detectorType: Type of the detector.
Examples:
testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint-7.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 734 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.

Definition at line 747 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 779 of file vpKeyPoint.h.

void vpKeyPoint::setExtractor ( const vpFeatureDescriptorType &  extractorType)
inline

Set and initialize a descriptor extractor.

Parameters
extractorType: Type of the descriptor extractor.
Examples:
testKeyPoint-6.cpp, testKeyPoint-7.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 792 of file vpKeyPoint.h.

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

Set and initialize a descriptor extractor denominated by his name extractorName.

Parameters
extractorName: Name of the extractor.

Definition at line 806 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 838 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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 889 of file vpKeyPoint.h.

void vpKeyPoint::setImageFormat ( const vpImageFormatType &  imageFormat)
inline

Set the image format to use when saving training images.

Parameters
imageFormat: The image format.

Definition at line 851 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-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 868 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 924 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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 938 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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 953 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacFilterFlag ( const vpPose::RANSAC_FILTER_FLAGS &  flag)
inline

Set filter flag for RANSAC pose estimation.

Definition at line 966 of file vpKeyPoint.h.

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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 977 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 1030 of file vpKeyPoint.h.

References vpException::badValue.

void vpKeyPoint::setRansacParallel ( const bool  parallel)
inline

Use or not the multithreaded version.

Note
Need C++11

Definition at line 991 of file vpKeyPoint.h.

void vpKeyPoint::setRansacParallelNbThreads ( const unsigned int  nthreads)
inline

Set the number of threads to use if multithreaded RANSAC pose.

Parameters
nthreads: Number of threads, if 0 the number of CPU threads will be determined
See also
setRansacParallel

Definition at line 1002 of file vpKeyPoint.h.

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 1014 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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 1045 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 1061 of file vpKeyPoint.h.

void vpKeyPoint::setUseMatchTrainToQuery ( const bool  useMatchTrainToQuery)
inline

Set if we want to match the train keypoints to the query keypoints.

Parameters
useMatchTrainToQuery: True to match the train keypoints to the query keypoints

Definition at line 1090 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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 1102 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-deprecated.cpp, and tutorial-detection-object-mbt.cpp.

Definition at line 1111 of file vpKeyPoint.h.

void vpKeyPoint::setUseSingleMatchFilter ( const bool  singleMatchFilter)
inline

Set the flag to filter matches where multiple query keypoints are matched to the same train keypoints.

Parameters
singleMatchFilter: True to use the single match filter.

Definition at line 1119 of file vpKeyPoint.h.

Member Data Documentation

bool vpBasicKeyPoint::_reference_computed
protectedinherited

flag to indicate if the reference has been built.

Definition at line 251 of file vpBasicKeyPoint.h.

Referenced by buildReference(), loadLearningData(), matchPoint(), and reset().

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 getQueryKeyPoints(), matchPoint(), and reset().

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 248 of file vpBasicKeyPoint.h.

Referenced by matchPoint(), and reset().

std::vector<vpImagePoint> vpBasicKeyPoint::referenceImagePointsList
protectedinherited

List of the points which define the reference.

Definition at line 232 of file vpBasicKeyPoint.h.

Referenced by buildReference(), getTrainKeyPoints(), loadLearningData(), and reset().