#include <visp3/vision/vpBasicKeyPoint.h>

Inheritance diagram for vpBasicKeyPoint:

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 &currentPoint)

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 >	m_referenceImagePointsList

std::vector< vpImagePoint >	m_currentImagePointsList

std::vector< unsigned int >	m_matchedReferencePoints

bool	m_reference_computed

Detailed Description

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 59 of file vpBasicKeyPoint.h.

Constructor & Destructor Documentation

◆ vpBasicKeyPoint()

vpBasicKeyPoint::vpBasicKeyPoint ( )

inline

Basic constructor.

Definition at line 65 of file vpBasicKeyPoint.h.

◆ ~vpBasicKeyPoint()

virtual vpBasicKeyPoint::~vpBasicKeyPoint ( )

inlinevirtual

Destructor.

Definition at line 72 of file vpBasicKeyPoint.h.

Member Function Documentation

◆ buildReference() [1/3]

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

pure virtual

Build reference.

Implemented in vpKeyPoint.

◆ buildReference() [2/3]

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

pure virtual

Build reference.

Implemented in vpKeyPoint.

◆ buildReference() [3/3]

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

pure virtual

Build reference.

Implemented in vpKeyPoint.

◆ display() [1/2]

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

pure virtual

Display keypoints.

Implemented in vpKeyPoint.

◆ display() [2/2]

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

pure virtual

Display keypoints.

Implemented in vpKeyPoint.

◆ getAllPointsInReferenceImage()

const vpImagePoint* vpBasicKeyPoint::getAllPointsInReferenceImage ( )

inline

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 136 of file vpBasicKeyPoint.h.

◆ getCurrentImagePointsList()

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

inline

Return the vector of current image point.

Warning: Should not be modified.

Returns: Vector of the current image point.

Definition at line 241 of file vpBasicKeyPoint.h.

◆ getIndexInAllReferencePointList()

unsigned int vpBasicKeyPoint::getIndexInAllReferencePointList ( unsigned int indexInMatchedPointList )

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.

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

Definition at line 202 of file vpBasicKeyPoint.h.

References vpException::fatalError.

◆ getMatchedPointNumber()

unsigned int vpBasicKeyPoint::getMatchedPointNumber ( ) const

inline

Get the number of matched points.

Returns: the number of matched points.

Definition at line 223 of file vpBasicKeyPoint.h.

◆ getMatchedPoints()

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

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.

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-SIFT.cpp, tutorial-matching-keypoint-homography.cpp, and tutorial-matching-keypoint.cpp.

Definition at line 168 of file vpBasicKeyPoint.h.

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

◆ getMatchedReferencePoints()

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

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.

Warning: Should not be modified.

Returns: The vector of matching index.

Definition at line 252 of file vpBasicKeyPoint.h.

◆ getReferenceImagePointsList()

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

inline

Return the vector of reference image point.

Warning: Should not be modified.

Returns: Vector of reference image point.

Definition at line 232 of file vpBasicKeyPoint.h.

◆ getReferencePoint()

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

inline

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 147 of file vpBasicKeyPoint.h.

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

◆ getReferencePointNumber()

unsigned int vpBasicKeyPoint::getReferencePointNumber ( ) const

inline

Get the number of reference points.

Returns: the number of reference points.

Definition at line 216 of file vpBasicKeyPoint.h.

◆ matchPoint() [1/3]

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

pure virtual

Match keypoints.

Implemented in vpKeyPoint.

◆ matchPoint() [2/3]

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

pure virtual

Match keypoints.

Implemented in vpKeyPoint.

◆ matchPoint() [3/3]

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

pure virtual

Match keypoints.

Implemented in vpKeyPoint.

◆ referenceBuilt()

bool vpBasicKeyPoint::referenceBuilt ( ) const

inline

Indicate wether the reference has been built or not.

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

Definition at line 128 of file vpBasicKeyPoint.h.

Member Data Documentation

◆ m_currentImagePointsList

std::vector<vpImagePoint> vpBasicKeyPoint::m_currentImagePointsList

protected

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

Definition at line 264 of file vpBasicKeyPoint.h.

Referenced by vpKeyPoint::getQueryKeyPoints(), vpKeyPoint::matchPoint(), and vpKeyPoint::reset().

◆ m_matchedReferencePoints

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

protected

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

The first element of the "m_currentImagePointsList" array is matched with the nth element of the "m_referenceImagePointsList" array. The value of n is stored in the first element of the "m_matchedReferencePoints" array.

Definition at line 274 of file vpBasicKeyPoint.h.

Referenced by vpKeyPoint::matchPoint(), and vpKeyPoint::reset().

◆ m_reference_computed

bool vpBasicKeyPoint::m_reference_computed

protected

Flag to indicate if the reference has been built.

Definition at line 279 of file vpBasicKeyPoint.h.

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

◆ m_referenceImagePointsList

std::vector<vpImagePoint> vpBasicKeyPoint::m_referenceImagePointsList

protected

List of the points which define the reference.

Definition at line 258 of file vpBasicKeyPoint.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpBasicKeyPoint()

◆ ~vpBasicKeyPoint()

Member Function Documentation

◆ buildReference() [1/3]

◆ buildReference() [2/3]

◆ buildReference() [3/3]

◆ display() [1/2]

◆ display() [2/2]

◆ getAllPointsInReferenceImage()

◆ getCurrentImagePointsList()

◆ getIndexInAllReferencePointList()

◆ getMatchedPointNumber()

◆ getMatchedPoints()

◆ getMatchedReferencePoints()

◆ getReferenceImagePointsList()

◆ getReferencePoint()

◆ getReferencePointNumber()

◆ matchPoint() [1/3]

◆ matchPoint() [2/3]

◆ matchPoint() [3/3]

◆ referenceBuilt()

Member Data Documentation

◆ m_currentImagePointsList

◆ m_matchedReferencePoints

◆ m_reference_computed

◆ m_referenceImagePointsList