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Visual Servoing Platform
version 3.6.0 under development (2023-09-29)
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#include <visp3/vision/vpBasicKeyPoint.h>
Public Member Functions | |
vpBasicKeyPoint () | |
virtual | ~vpBasicKeyPoint () |
virtual unsigned int | buildReference (const vpImage< unsigned char > &I)=0 |
virtual unsigned int | buildReference (const vpImage< unsigned char > &I, const vpImagePoint &iP, unsigned int height, unsigned int width)=0 |
virtual unsigned int | buildReference (const vpImage< unsigned char > &I, const vpRect &rectangle)=0 |
virtual unsigned int | matchPoint (const vpImage< unsigned char > &I)=0 |
virtual unsigned int | matchPoint (const vpImage< unsigned char > &I, const vpImagePoint &iP, unsigned int height, unsigned int width)=0 |
virtual unsigned int | matchPoint (const vpImage< unsigned char > &I, const vpRect &rectangle)=0 |
virtual void | display (const vpImage< unsigned char > &Iref, const vpImage< unsigned char > &Icurrent, unsigned int size=3)=0 |
virtual void | display (const vpImage< unsigned char > &Icurrent, unsigned int size=3, const vpColor &color=vpColor::green)=0 |
bool | referenceBuilt () const |
const vpImagePoint * | getAllPointsInReferenceImage () |
void | getReferencePoint (unsigned int index, vpImagePoint &referencePoint) |
void | getMatchedPoints (unsigned int index, vpImagePoint &referencePoint, vpImagePoint ¤tPoint) |
unsigned int | getIndexInAllReferencePointList (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 Attributes | |
std::vector< vpImagePoint > | referenceImagePointsList |
std::vector< vpImagePoint > | currentImagePointsList |
std::vector< unsigned int > | matchedReferencePoints |
bool | _reference_computed |
class that defines what is a keypoint. This class provides all the basic elements to implement classes which aims to match points from an image to another.
Definition at line 57 of file vpBasicKeyPoint.h.
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inline |
Basic constructor.
Definition at line 63 of file vpBasicKeyPoint.h.
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inlinevirtual |
Destructor.
Definition at line 70 of file vpBasicKeyPoint.h.
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pure virtual |
Build reference.
Implemented in vpKeyPoint.
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pure virtual |
Build reference.
Implemented in vpKeyPoint.
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pure virtual |
Build reference.
Implemented in vpKeyPoint.
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pure virtual |
Display keypoints.
Implemented in vpKeyPoint.
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pure virtual |
Display keypoints.
Implemented in vpKeyPoint.
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inline |
Get the pointer to the complete list of reference points. The pointer is const. Thus the points can not be modified
Definition at line 134 of file vpBasicKeyPoint.h.
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inline |
Return the vector of current image point.
Definition at line 239 of file vpBasicKeyPoint.h.
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inline |
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.
Definition at line 200 of file vpBasicKeyPoint.h.
References vpException::fatalError, and vpTRACE.
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inline |
Get the number of matched points.
Definition at line 221 of file vpBasicKeyPoint.h.
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inline |
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.
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. |
Definition at line 166 of file vpBasicKeyPoint.h.
References vpException::fatalError, vpImagePoint::set_ij(), and vpTRACE.
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inline |
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.
Definition at line 250 of file vpBasicKeyPoint.h.
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inline |
Return the vector of reference image point.
Definition at line 230 of file vpBasicKeyPoint.h.
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inline |
Get the nth reference point. This point is copied in the vpImagePoint instance given in argument.
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 145 of file vpBasicKeyPoint.h.
References vpException::fatalError, vpImagePoint::set_ij(), and vpTRACE.
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inline |
Get the number of reference points.
Definition at line 214 of file vpBasicKeyPoint.h.
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pure virtual |
Match keypoints.
Implemented in vpKeyPoint.
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pure virtual |
Match keypoints.
Implemented in vpKeyPoint.
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pure virtual |
Match keypoints.
Implemented in vpKeyPoint.
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inline |
Indicate wether the reference has been built or not.
Definition at line 126 of file vpBasicKeyPoint.h.
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protected |
Flag to indicate if the reference has been built.
Definition at line 280 of file vpBasicKeyPoint.h.
Referenced by vpKeyPoint::buildReference(), vpKeyPoint::loadLearningData(), vpKeyPoint::matchPoint(), and vpKeyPoint::reset().
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protected |
List of the points which belong to the current image and have been matched with points belonging to the reference.
Definition at line 265 of file vpBasicKeyPoint.h.
Referenced by vpKeyPoint::getQueryKeyPoints(), vpKeyPoint::matchPoint(), and vpKeyPoint::reset().
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protected |
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 275 of file vpBasicKeyPoint.h.
Referenced by vpKeyPoint::matchPoint(), and vpKeyPoint::reset().
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protected |
List of the points which define the reference.
Definition at line 259 of file vpBasicKeyPoint.h.
Referenced by vpKeyPoint::buildReference(), vpKeyPoint::getTrainKeyPoints(), vpKeyPoint::loadLearningData(), and vpKeyPoint::reset().