#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_BRISK , DETECTOR_FAST , DETECTOR_GFTT , DETECTOR_MSER , DETECTOR_ORB , DETECTOR_SimpleBlob , DETECTOR_AGAST , DETECTOR_AKAZE , DETECTOR_KAZE , DETECTOR_TYPE_SIZE }

enum	vpFeatureDescriptorType { DESCRIPTOR_BRISK , DESCRIPTOR_ORB , DESCRIPTOR_AKAZE , DESCRIPTOR_KAZE , DESCRIPTOR_BRIEF , DESCRIPTOR_DAISY , DESCRIPTOR_FREAK , DESCRIPTOR_LATCH , 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, unsigned int height, unsigned int width)

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

unsigned int	buildReference (const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &trainKeyPoints, std::vector< cv::Point3f > &points3f, bool append=false, int class_id=-1)

unsigned int	buildReference (const vpImage< unsigned char > &I, const std::vector< cv::KeyPoint > &trainKeyPoints, const cv::Mat &trainDescriptors, const std::vector< cv::Point3f > &points3f, bool append=false, int class_id=-1)

unsigned int	buildReference (const vpImage< vpRGBa > &I_color)

unsigned int	buildReference (const vpImage< vpRGBa > &I_color, const vpImagePoint &iP, unsigned int height, unsigned int width)

unsigned int	buildReference (const vpImage< vpRGBa > &I_color, const vpRect &rectangle)

unsigned int	buildReference (const vpImage< vpRGBa > &I_color, std::vector< cv::KeyPoint > &trainKeyPoints, std::vector< cv::Point3f > &points3f, bool append=false, int class_id=-1)

unsigned int	buildReference (const vpImage< vpRGBa > &I_color, const std::vector< cv::KeyPoint > &trainKeyPoints, const cv::Mat &trainDescriptors, const std::vector< cv::Point3f > &points3f, bool append=false, 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 &)=nullptr)

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

bool	computePose (const std::vector< vpPoint > &objectVpPoints, vpHomogeneousMatrix &cMo, std::vector< vpPoint > &inliers, std::vector< unsigned int > &inlierIndex, double &elapsedTime, bool(*func)(const vpHomogeneousMatrix &)=nullptr)

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

void	createImageMatching (vpImage< vpRGBa > &ICurrent, vpImage< vpRGBa > &IMatching)

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

void	detect (const vpImage< vpRGBa > &I_color, 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 vpImage< vpRGBa > &I_color, 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=nullptr)

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

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

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

void	displayMatching (const vpImage< vpRGBa > &ICurrent, vpImage< vpRGBa > &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=nullptr)

void	extract (const vpImage< vpRGBa > &I_color, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, std::vector< cv::Point3f > *trainPoints=nullptr)

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

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

void	extract (const vpImage< vpRGBa > &I_color, std::vector< cv::KeyPoint > &keyPoints, cv::Mat &descriptors, double &elapsedTime, std::vector< cv::Point3f > *trainPoints=nullptr)

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

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, bool matches=true) const

void	getQueryKeyPoints (std::vector< vpImagePoint > &keyPoints, bool matches=true) 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	insertImageMatching (const vpImage< vpRGBa > &IRef, const vpImage< vpRGBa > &ICurrent, vpImage< vpRGBa > &IMatching)

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

void	loadConfigFile (const std::string &configFile)

void	loadLearningData (const std::string &filename, bool binaryMode=false, 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, unsigned int height, unsigned int width)

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

unsigned int	matchPoint (const std::vector< cv::KeyPoint > &queryKeyPoints, const cv::Mat &queryDescriptors)

bool	matchPoint (const vpImage< unsigned char > &I, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=nullptr, const vpRect &rectangle=vpRect())

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

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

unsigned int	matchPoint (const vpImage< vpRGBa > &I_color)

unsigned int	matchPoint (const vpImage< vpRGBa > &I_color, const vpImagePoint &iP, unsigned int height, unsigned int width)

unsigned int	matchPoint (const vpImage< vpRGBa > &I_color, const vpRect &rectangle)

bool	matchPoint (const vpImage< vpRGBa > &I_color, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=nullptr, const vpRect &rectangle=vpRect())

bool	matchPoint (const vpImage< vpRGBa > &I_color, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, double &error, double &elapsedTime, bool(*func)(const vpHomogeneousMatrix &)=nullptr, const vpRect &rectangle=vpRect())

void	reset ()

void	saveLearningData (const std::string &filename, bool binaryMode=false, 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	setMaxFeatures (int maxFeatures)

void	setFilterMatchingType (const vpFilterMatchingType &filterType)

void	setMatchingFactorThreshold (const double factor)

void	setMatchingRatioThreshold (double ratio)

void	setRansacConsensusPercentage (double percentage)

void	setRansacFilterFlag (const vpPose::RANSAC_FILTER_FLAGS &flag)

void	setRansacIteration (int nbIter)

void	setRansacParallel (bool parallel)

void	setRansacParallelNbThreads (unsigned int nthreads)

void	setRansacReprojectionError (double reprojectionError)

void	setRansacMinInlierCount (int minCount)

void	setRansacThreshold (double threshold)

void	setUseAffineDetection (bool useAffine)

void	setUseMatchTrainToQuery (bool useMatchTrainToQuery)

void	setUseRansacConsensusPercentage (bool usePercentage)

void	setUseRansacVVS (bool ransacVVS)

void	setUseSingleMatchFilter (bool singleMatchFilter)

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

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=nullptr)

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=nullptr)

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=nullptr)

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=nullptr)

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 allows keypoints 2D features 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.

Depending on OpenCV version, the table below shows which OpenCV module is required to be able to use a given 2D features detectors.

2D features detectors	OpenCV < 5.0	OpenCV >= 5.0
AGAST	features2d	xfeatures2d
AKAZE	features2d	xfeatures2d
BRISK	features2d	xfeatures2d
GFTTDetector	features2d	features
FAST	features2d	features
KAZE	features2d	xfeatures2d
MSDDetector	xfeatures2d	xfeatures2d
MSER	features2d	features
ORB	features2d	features
SIFT	xfeatures2d	features
SimpleBlobDetector	features2d	features
STAR	xfeatures2d	xfeatures2d
SURF	xfeatures2d	xfeatures2d

Depending on OpenCV version, the table below shows which OpenCV module is required to be able to use a given 2D features descriptor.

2D features descriptors	OpenCV < 5.0	OpenCV >= 5.0
AKAZE	features2d	xfeatures2d
BRIEF	xfeatures2d	xfeatures2d
BRISK	features2d	xfeatures2d
BoostDesc	xfeatures2d	xfeatures2d
DAISY	xfeatures2d	xfeatures2d
FREAK	xfeatures2d	xfeatures2d
KAZE	features2d	xfeatures2d
LATCH	xfeatures2d	xfeatures2d
ORB	features2d	features
SIFT	xfeatures2d	features
SURF	xfeatures2d	xfeatures2d
VGG	xfeatures2d	xfeatures2d

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/vpImage.h>
#include <visp3/vision/vpKeyPoint.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/vision/vpKeyPoint.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 clicking on two points which define a rectangle
  vpImagePoint corners[2];
  for (int i=0 ; i < 2 ; i++) {
    vpDisplay::getClick(Ireference, corners[i]);
  }
 
  //Build the reference 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 clicking 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-SIFT.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 266 of file vpKeyPoint.h.

Member Enumeration Documentation

◆ vpDetectionMethodType

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 285 of file vpKeyPoint.h.

◆ vpFeatureDescriptorType

enum vpKeyPoint::vpFeatureDescriptorType

Predefined constant for descriptor extraction type.

Enumerator
DESCRIPTOR_BRISK	BRISK descriptor.
DESCRIPTOR_ORB	ORB descriptor.
DESCRIPTOR_AKAZE	AKAZE descriptor.
DESCRIPTOR_KAZE	KAZE descriptor.
DESCRIPTOR_BRIEF	BRIEF descriptor.
DESCRIPTOR_DAISY	DAISY descriptor.
DESCRIPTOR_FREAK	FREAK descriptor.
DESCRIPTOR_LATCH	LATCH descriptor.
DESCRIPTOR_TYPE_SIZE	Number of descriptors available.

Examples: testKeyPoint-6.cpp.

Definition at line 358 of file vpKeyPoint.h.

◆ vpFeatureDetectorType

enum vpKeyPoint::vpFeatureDetectorType

Predefined constant for feature detection type.

Enumerator
DETECTOR_BRISK	BRISK detector.
DETECTOR_FAST	FAST detector.
DETECTOR_GFTT	GFTT detector.
DETECTOR_MSER	MSER detector.
DETECTOR_ORB	ORB detector.
DETECTOR_SimpleBlob	SimpleBlob detector.
DETECTOR_AGAST	AGAST detector.
DETECTOR_AKAZE	AKAZE detector.
DETECTOR_KAZE	KAZE detector.
DETECTOR_TYPE_SIZE	Number of detectors available.

Examples: testKeyPoint-5.cpp.

Definition at line 304 of file vpKeyPoint.h.

◆ vpFilterMatchingType

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 270 of file vpKeyPoint.h.

◆ vpImageFormatType

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 295 of file vpKeyPoint.h.

Constructor & Destructor Documentation

◆ vpKeyPoint() [1/3]

BEGIN_VISP_NAMESPACE 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 87 of file vpKeyPoint.cpp.

◆ vpKeyPoint() [2/3]

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 113 of file vpKeyPoint.cpp.

◆ vpKeyPoint() [3/3]

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 139 of file vpKeyPoint.cpp.

Member Function Documentation

◆ buildReference() [1/10]

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-SIFT.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 211 of file vpKeyPoint.cpp.

Referenced by buildReference().

◆ buildReference() [2/10]

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

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

Definition at line 363 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV(), vpBasicKeyPoint::m_reference_computed, and vpBasicKeyPoint::m_referenceImagePointsList.

◆ buildReference() [3/10]

unsigned int vpKeyPoint::buildReference	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	iP,
		unsigned int	height,
		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 215 of file vpKeyPoint.cpp.

References buildReference().

◆ buildReference() [4/10]

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 227 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV(), detect(), detectExtractAffine(), extract(), vpBasicKeyPoint::m_reference_computed, and vpBasicKeyPoint::m_referenceImagePointsList.

◆ buildReference() [5/10]

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

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

Definition at line 294 of file vpKeyPoint.cpp.

References buildReference(), and extract().

◆ buildReference() [6/10]

unsigned int vpKeyPoint::buildReference ( const vpImage< vpRGBa > & I_color )

Build the reference keypoints list.

Parameters

I_color : Input reference image.

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

Definition at line 213 of file vpKeyPoint.cpp.

References buildReference().

◆ buildReference() [7/10]

unsigned int vpKeyPoint::buildReference	(	const vpImage< vpRGBa > &	I_color,
		const std::vector< cv::KeyPoint > &	trainKeyPoints,
		const cv::Mat &	trainDescriptors,
		const std::vector< cv::Point3f > &	points3f,
		bool	append = `false`,
		int	class_id = `-1`
	)

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

Parameters

I_color	: 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.

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

Definition at line 419 of file vpKeyPoint.cpp.

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

◆ buildReference() [8/10]

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

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

Parameters

I_color	: 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.

Definition at line 221 of file vpKeyPoint.cpp.

References buildReference().

◆ buildReference() [9/10]

unsigned int vpKeyPoint::buildReference	(	const vpImage< vpRGBa > &	I_color,
		const vpRect &	rectangle
	)

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

Parameters

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

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

Definition at line 288 of file vpKeyPoint.cpp.

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

◆ buildReference() [10/10]

unsigned int vpKeyPoint::buildReference	(	const vpImage< vpRGBa > &	I_color,
		std::vector< cv::KeyPoint > &	trainKeyPoints,
		std::vector< cv::Point3f > &	points3f,
		bool	append = `false`,
		int	class_id = `-1`
	)

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

Parameters

I_color	: 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.

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

Definition at line 328 of file vpKeyPoint.cpp.

References buildReference(), and extract().

◆ compute3D() [1/2]

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 427 of file vpKeyPoint.cpp.

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

Referenced by compute3DForPointsInPolygons().

◆ compute3D() [2/2]

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 454 of file vpKeyPoint.cpp.

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

◆ compute3DForPointsInPolygons() [1/2]

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 = `nullptr`
	)

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, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 481 of file vpKeyPoint.cpp.

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

◆ compute3DForPointsInPolygons() [2/2]

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 = `nullptr`
	)

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 529 of file vpKeyPoint.cpp.

References compute3D().

◆ compute3DForPointsOnCylinders() [1/2]

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 = `nullptr`
	)

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 572 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().

◆ compute3DForPointsOnCylinders() [2/2]

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 = `nullptr`
	)

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 631 of file vpKeyPoint.cpp.

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

◆ computePose() [1/3]

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 = `nullptr`
	)

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 690 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().

◆ computePose() [2/3]

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

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 775 of file vpKeyPoint.cpp.

References computePose().

◆ computePose() [3/3]

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 = `nullptr`
	)

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 783 of file vpKeyPoint.cpp.

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

◆ createImageMatching() [1/4]

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 895 of file vpKeyPoint.cpp.

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

◆ createImageMatching() [2/4]

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

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

Parameters

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

Definition at line 875 of file vpKeyPoint.cpp.

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

Referenced by createImageMatching().

◆ createImageMatching() [3/4]

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

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

Parameters

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

Definition at line 885 of file vpKeyPoint.cpp.

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

◆ createImageMatching() [4/4]

void vpKeyPoint::createImageMatching	(	vpImage< vpRGBa > &	ICurrent,
		vpImage< vpRGBa > &	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 942 of file vpKeyPoint.cpp.

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

◆ detect() [1/6]

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 1001 of file vpKeyPoint.cpp.

References detect().

◆ detect() [2/6]

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 1055 of file vpKeyPoint.cpp.

References vpTime::measureTimeMs().

◆ detect() [3/6]

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, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 989 of file vpKeyPoint.cpp.

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

◆ detect() [4/6]

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 1007 of file vpKeyPoint.cpp.

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

◆ detect() [5/6]

void vpKeyPoint::detect	(	const vpImage< vpRGBa > &	I_color,
		std::vector< cv::KeyPoint > &	keyPoints,
		const vpRect &	rectangle = `vpRect()`
	)

Detect keypoints in the image.

Parameters

I_color	: Input image.
keyPoints	: Output list of the detected keypoints.
rectangle	: Optional rectangle of the region of interest.

Definition at line 995 of file vpKeyPoint.cpp.

References detect().

◆ detect() [6/6]

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

Detect keypoints in the image.

Parameters

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

Definition at line 1031 of file vpKeyPoint.cpp.

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

◆ detectExtractAffine()

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 = `nullptr`
	)

Apply a set of affine transformations 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 3530 of file vpKeyPoint.cpp.

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

Referenced by buildReference(), and matchPoint().

◆ display() [1/4]

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 1098 of file vpKeyPoint.cpp.

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

◆ display() [2/4]

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 1072 of file vpKeyPoint.cpp.

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

◆ display() [3/4]

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

Display the reference keypoints.

Parameters

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

Definition at line 1108 of file vpKeyPoint.cpp.

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

◆ display() [4/4]

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

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.

Definition at line 1085 of file vpKeyPoint.cpp.

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

◆ displayMatching() [1/5]

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 1200 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().

◆ displayMatching() [2/5]

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

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

Parameters

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

Definition at line 1118 of file vpKeyPoint.cpp.

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

Referenced by displayMatching().

◆ displayMatching() [3/5]

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

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

Parameters

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

Definition at line 1145 of file vpKeyPoint.cpp.

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

◆ displayMatching() [4/5]

void vpKeyPoint::displayMatching	(	const vpImage< vpRGBa > &	ICurrent,
		vpImage< vpRGBa > &	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 1313 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().

◆ displayMatching() [5/5]

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

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

Parameters

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

Definition at line 1172 of file vpKeyPoint.cpp.

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

◆ extract() [1/6]

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

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 1463 of file vpKeyPoint.cpp.

References vpTime::measureTimeMs().

◆ extract() [2/6]

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

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 1440 of file vpKeyPoint.cpp.

References extract().

◆ extract() [3/6]

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

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 1447 of file vpKeyPoint.cpp.

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

◆ extract() [4/6]

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

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 1426 of file vpKeyPoint.cpp.

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

◆ extract() [5/6]

void vpKeyPoint::extract	(	const vpImage< vpRGBa > &	I_color,
		std::vector< cv::KeyPoint > &	keyPoints,
		cv::Mat &	descriptors,
		double &	elapsedTime,
		std::vector< cv::Point3f > *	trainPoints = `nullptr`
	)

Extract the descriptors for each keypoints of the list.

Parameters

I_color	: 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 1455 of file vpKeyPoint.cpp.

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

◆ extract() [6/6]

void vpKeyPoint::extract	(	const vpImage< vpRGBa > &	I_color,
		std::vector< cv::KeyPoint > &	keyPoints,
		cv::Mat &	descriptors,
		std::vector< cv::Point3f > *	trainPoints = `nullptr`
	)

Extract the descriptors for each keypoints of the list.

Parameters

I_color	: 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 1433 of file vpKeyPoint.cpp.

References extract().

◆ getAllPointsInReferenceImage()

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 136 of file vpBasicKeyPoint.h.

◆ getCovarianceMatrix()

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 1057 of file vpKeyPoint.h.

◆ getCurrentImagePointsList()

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 241 of file vpBasicKeyPoint.h.

◆ getDetectionTime()

double vpKeyPoint::getDetectionTime ( ) const

inline

Get the elapsed time to compute the keypoint detection.

Returns: The elapsed time.

Definition at line 1082 of file vpKeyPoint.h.

◆ getDetector() [1/2]

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 nullptr if the name passed in parameter does not exist.

Definition at line 1115 of file vpKeyPoint.h.

◆ getDetector() [2/2]

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 nullptr if the type passed in parameter does not exist.

Examples: tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 1091 of file vpKeyPoint.h.

◆ getDetectorNames()

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 1129 of file vpKeyPoint.h.

◆ getExtractionTime()

double vpKeyPoint::getExtractionTime ( ) const

inline

Get the elapsed time to compute the keypoint extraction.

Returns: The elapsed time.

Definition at line 1136 of file vpKeyPoint.h.

◆ getExtractor() [1/2]

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 nullptr if the name passed in parameter does not exist.

Definition at line 1169 of file vpKeyPoint.h.

◆ getExtractor() [2/2]

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 nullptr if the name passed in parameter does not exist.

Examples: testKeyPoint-6.cpp.

Definition at line 1145 of file vpKeyPoint.h.

◆ getExtractorNames()

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 1183 of file vpKeyPoint.h.

◆ getImageFormat()

vpImageFormatType vpKeyPoint::getImageFormat ( ) const

inline

Get the image format to use when saving training images.

Returns: The image format.

Definition at line 1190 of file vpKeyPoint.h.

◆ getIndexInAllReferencePointList()

unsigned int vpBasicKeyPoint::getIndexInAllReferencePointList ( 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.

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

inlineinherited

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
	)

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-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

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 252 of file vpBasicKeyPoint.h.

◆ getMatcher()

cv::Ptr<cv::DescriptorMatcher> vpKeyPoint::getMatcher ( ) const

inline

Get the matcher pointer.

Returns: The matcher pointer.

Definition at line 1204 of file vpKeyPoint.h.

◆ getMatches()

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 1212 of file vpKeyPoint.h.

◆ getMatchingTime()

double vpKeyPoint::getMatchingTime ( ) const

inline

Get the elapsed time to compute the matching.

Returns: The elapsed time.

Definition at line 1197 of file vpKeyPoint.h.

◆ getMatchQueryToTrainKeyPoints()

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 1221 of file vpKeyPoint.h.

◆ getNbImages()

unsigned int vpKeyPoint::getNbImages ( ) const

inline

Get the number of train images.

Returns: The number of train images.

Definition at line 1237 of file vpKeyPoint.h.

◆ getObjectPoints() [1/2]

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 1703 of file vpKeyPoint.cpp.

◆ getObjectPoints() [2/2]

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 1708 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV().

◆ getPoseTime()

double vpKeyPoint::getPoseTime ( ) const

inline

Get the elapsed time to compute the pose.

Returns: The elapsed time.

Definition at line 1262 of file vpKeyPoint.h.

◆ getQueryDescriptors()

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 1270 of file vpKeyPoint.h.

◆ getQueryKeyPoints() [1/2]

void vpKeyPoint::getQueryKeyPoints	(	std::vector< cv::KeyPoint > &	keyPoints,
		bool	matches = `true`
	)		const

Get the query keypoints list in OpenCV type.

Parameters

matches	: If false return the list of all query keypoints extracted in the current image. If true, return only the query keypoints list that have matches.
keyPoints	: List of query keypoints (or keypoints detected in the current image).

Definition at line 1713 of file vpKeyPoint.cpp.

Referenced by display(), and displayMatching().

◆ getQueryKeyPoints() [2/2]

void vpKeyPoint::getQueryKeyPoints	(	std::vector< vpImagePoint > &	keyPoints,
		bool	matches = `true`
	)		const

Get the query keypoints list in ViSP type.

Parameters

keyPoints	: List of query keypoints (or keypoints detected in the current image).
matches	: If false return the list of all query keypoints extracted in the current image. If true, return only the query keypoints list that have matches.

Definition at line 1723 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV(), and vpBasicKeyPoint::m_currentImagePointsList.

◆ getRansacInliers()

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

inline

Get the list of Ransac inliers.

Returns: The list of Ransac inliers.

Definition at line 1297 of file vpKeyPoint.h.

◆ getRansacOutliers()

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

inline

Get the list of Ransac outliers.

Returns: The list of Ransac outliers.

Definition at line 1304 of file vpKeyPoint.h.

◆ getReferenceImagePointsList()

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 232 of file vpBasicKeyPoint.h.

◆ getReferencePoint()

void vpBasicKeyPoint::getReferencePoint	(	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 147 of file vpBasicKeyPoint.h.

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

◆ getReferencePointNumber()

unsigned int vpBasicKeyPoint::getReferencePointNumber ( ) const

inlineinherited

Get the number of reference points.

Returns: the number of reference points.

Definition at line 216 of file vpBasicKeyPoint.h.

◆ getTrainDescriptors()

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 1312 of file vpKeyPoint.h.

◆ getTrainKeyPoints() [1/2]

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 1733 of file vpKeyPoint.cpp.

Referenced by display(), and displayMatching().

◆ getTrainKeyPoints() [2/2]

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 1735 of file vpKeyPoint.cpp.

References vpBasicKeyPoint::m_referenceImagePointsList.

◆ getTrainPoints() [1/2]

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 1737 of file vpKeyPoint.cpp.

◆ getTrainPoints() [2/2]

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 1739 of file vpKeyPoint.cpp.

◆ initMatcher()

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 2299 of file vpKeyPoint.cpp.

References vpException::fatalError.

◆ insertImageMatching() [1/4]

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 2375 of file vpKeyPoint.cpp.

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

◆ insertImageMatching() [2/4]

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

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

Parameters

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

Definition at line 2357 of file vpKeyPoint.cpp.

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

Referenced by insertImageMatching().

◆ insertImageMatching() [3/4]

void vpKeyPoint::insertImageMatching	(	const vpImage< vpRGBa > &	ICurrent,
		vpImage< vpRGBa > &	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 2439 of file vpKeyPoint.cpp.

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

◆ insertImageMatching() [4/4]

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

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

Parameters

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

Definition at line 2366 of file vpKeyPoint.cpp.

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

◆ loadConfigFile()

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 2507 of file vpKeyPoint.cpp.

◆ loadLearningData()

void vpKeyPoint::loadLearningData	(	const std::string &	filename,
		bool	binaryMode = `false`,
		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-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 2582 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV(), vpIoTools::getParent(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpBasicKeyPoint::m_reference_computed, vpBasicKeyPoint::m_referenceImagePointsList, vpImageIo::read(), and vpIoTools::readBinaryValueLE().

◆ match()

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 2997 of file vpKeyPoint.cpp.

References vpTime::measureTimeMs().

Referenced by matchPoint().

◆ matchPoint() [1/11]

unsigned int vpKeyPoint::matchPoint	(	const std::vector< cv::KeyPoint > &	queryKeyPoints,
		const cv::Mat &	queryDescriptors
	)

Match query keypoints with those built in the reference list using buildReference().

Parameters

queryKeyPoints	: List of the query keypoints.
queryDescriptors	: List of the query descriptors.

Returns: The number of matched keypoints.

Definition at line 3114 of file vpKeyPoint.cpp.

References vpConvert::convertFromOpenCV(), vpBasicKeyPoint::m_currentImagePointsList, vpBasicKeyPoint::m_matchedReferencePoints, match(), and noFilterMatching.

◆ matchPoint() [2/11]

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-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 3052 of file vpKeyPoint.cpp.

Referenced by matchPoint(), and matchPointAndDetect().

◆ matchPoint() [3/11]

bool vpKeyPoint::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		bool(*)(const vpHomogeneousMatrix &)	func = `nullptr`,
		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 3168 of file vpKeyPoint.cpp.

References matchPoint().

◆ matchPoint() [4/11]

bool vpKeyPoint::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		double &	error,
		double &	elapsedTime,
		bool(*)(const vpHomogeneousMatrix &)	func = `nullptr`,
		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 3182 of file vpKeyPoint.cpp.

References computePose(), vpConvert::convertFromOpenCV(), vpPixelMeterConversion::convertPoint(), detect(), detectExtractAffine(), extract(), vpBasicKeyPoint::m_currentImagePointsList, vpBasicKeyPoint::m_matchedReferencePoints, vpBasicKeyPoint::m_reference_computed, match(), noFilterMatching, vpPoint::set_x(), vpPoint::set_y(), and vpPoint::setWorldCoordinates().

◆ matchPoint() [5/11]

unsigned int vpKeyPoint::matchPoint	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	iP,
		unsigned int	height,
		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 3056 of file vpKeyPoint.cpp.

References matchPoint().

◆ matchPoint() [6/11]

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 3068 of file vpKeyPoint.cpp.

References detect(), detectExtractAffine(), extract(), vpBasicKeyPoint::m_reference_computed, and matchPoint().

◆ matchPoint() [7/11]

unsigned int vpKeyPoint::matchPoint ( const vpImage< vpRGBa > & I_color )

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

Parameters

I_color : Input current image.

Returns: The number of matched keypoints.

Definition at line 3054 of file vpKeyPoint.cpp.

References matchPoint().

◆ matchPoint() [8/11]

bool vpKeyPoint::matchPoint	(	const vpImage< vpRGBa > &	I_color,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		bool(*)(const vpHomogeneousMatrix &)	func = `nullptr`,
		const vpRect &	rectangle = `vpRect()`
	)

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

Parameters

I_color	: 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 3175 of file vpKeyPoint.cpp.

References matchPoint().

◆ matchPoint() [9/11]

bool vpKeyPoint::matchPoint	(	const vpImage< vpRGBa > &	I_color,
		const vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo,
		double &	error,
		double &	elapsedTime,
		bool(*)(const vpHomogeneousMatrix &)	func = `nullptr`,
		const vpRect &	rectangle = `vpRect()`
	)

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

Parameters

I_color	: 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 3359 of file vpKeyPoint.cpp.

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

◆ matchPoint() [10/11]

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

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

Parameters

I_color	: 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.

Definition at line 3062 of file vpKeyPoint.cpp.

References matchPoint().

◆ matchPoint() [11/11]

unsigned int vpKeyPoint::matchPoint	(	const vpImage< vpRGBa > &	I_color,
		const vpRect &	rectangle
	)

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

Parameters

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

Returns: The number of matched keypoints.

Definition at line 3162 of file vpKeyPoint.cpp.

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

◆ matchPointAndDetect() [1/2]

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 = `nullptr`,
		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 3489 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().

◆ matchPointAndDetect() [2/2]

bool vpKeyPoint::matchPointAndDetect	(	const vpImage< unsigned char > &	I,
		vpRect &	boundingBox,
		vpImagePoint &	centerOfGravity,
		const bool	isPlanarObject = `true`,
		std::vector< vpImagePoint > *	imPts1 = `nullptr`,
		std::vector< vpImagePoint > *	imPts2 = `nullptr`,
		double *	meanDescriptorDistance = `nullptr`,
		double *	detectionScore = `nullptr`,
		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.
detectionScore	: 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 3367 of file vpKeyPoint.cpp.

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

◆ referenceBuilt()

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 128 of file vpBasicKeyPoint.h.

◆ reset()

void vpKeyPoint::reset ( )

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

Examples: testKeyPoint-7.cpp.

Definition at line 3661 of file vpKeyPoint.cpp.

References detectionScore, jpgImageFormat, vpBasicKeyPoint::m_currentImagePointsList, vpBasicKeyPoint::m_matchedReferencePoints, vpBasicKeyPoint::m_reference_computed, vpBasicKeyPoint::m_referenceImagePointsList, vpPose::NO_FILTER, and ratioDistanceThreshold.

◆ saveLearningData()

void vpKeyPoint::saveLearningData	(	const std::string &	filename,
		bool	binaryMode = `false`,
		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-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 3729 of file vpKeyPoint.cpp.

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

◆ setCovarianceComputation()

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 1629 of file vpKeyPoint.h.

◆ setDetectionMethod()

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 1646 of file vpKeyPoint.h.

◆ setDetector() [1/2]

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 1666 of file vpKeyPoint.h.

◆ setDetector() [2/2]

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, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 1653 of file vpKeyPoint.h.

◆ setDetectors()

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 1698 of file vpKeyPoint.h.

◆ setExtractor() [1/2]

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 1725 of file vpKeyPoint.h.

◆ setExtractor() [2/2]

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, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 1711 of file vpKeyPoint.h.

◆ setExtractors()

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 1757 of file vpKeyPoint.h.

◆ setFilterMatchingType()

void vpKeyPoint::setFilterMatchingType ( const vpFilterMatchingType & filterType )

inline

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

vpKeyPoint::constantFactorDistanceThreshold : Keep matches whose descriptor distance is below dist_min * factor.
vpKeyPoint::stdDistanceThreshold : Keep matches whose the descriptor distance is below dist_min + standard_deviation.
vpKeyPoint::ratioDistanceThreshold : Keep matches enough discriminated when the ratio distance between the 2 best matches is below the threshold.
vpKeyPoint::stdAndRatioDistanceThreshold : Keep matches that agree with at least one of the two conditions.
vpKeyPoint::noFilterMatching : No filter is applied.

Parameters

filterType : Type of the filtering method

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

Definition at line 1815 of file vpKeyPoint.h.

◆ setImageFormat()

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 1770 of file vpKeyPoint.h.

◆ setMatcher()

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, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 1787 of file vpKeyPoint.h.

◆ setMatchingFactorThreshold()

void vpKeyPoint::setMatchingFactorThreshold ( const double factor )

inline

Set the factor value for the filtering method: constantFactorDistanceThreshold.

Parameters

factor : Factor value

Definition at line 1851 of file vpKeyPoint.h.

References vpException::badValue.

◆ setMatchingRatioThreshold()

void vpKeyPoint::setMatchingRatioThreshold ( 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 1866 of file vpKeyPoint.h.

References vpException::badValue.

◆ setMaxFeatures()

void vpKeyPoint::setMaxFeatures ( int maxFeatures )

inline

Set maximum number of keypoints to extract.

Warning: This functionality is only available for ORB and SIFT extractors.

Parameters

maxFeatures : Maximum number of keypoints to extract. Set -1 to use default values.

Definition at line 1798 of file vpKeyPoint.h.

◆ setRansacConsensusPercentage()

void vpKeyPoint::setRansacConsensusPercentage ( 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 1882 of file vpKeyPoint.h.

References vpException::badValue.

◆ setRansacFilterFlag()

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

inline

Set filter flag for RANSAC pose estimation.

Definition at line 1896 of file vpKeyPoint.h.

◆ setRansacIteration()

void vpKeyPoint::setRansacIteration ( 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 1904 of file vpKeyPoint.h.

References vpException::badValue.

◆ setRansacMinInlierCount()

void vpKeyPoint::setRansacMinInlierCount ( 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 1953 of file vpKeyPoint.h.

References vpException::badValue.

◆ setRansacParallel()

void vpKeyPoint::setRansacParallel ( bool parallel )

inline

Use or not the multithreaded version.

Note: Needs C++11 or higher.

Definition at line 1919 of file vpKeyPoint.h.

◆ setRansacParallelNbThreads()

void vpKeyPoint::setRansacParallelNbThreads ( 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 1927 of file vpKeyPoint.h.

◆ setRansacReprojectionError()

void vpKeyPoint::setRansacReprojectionError ( 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 1936 of file vpKeyPoint.h.

References vpException::badValue.

◆ setRansacThreshold()

void vpKeyPoint::setRansacThreshold ( 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 1969 of file vpKeyPoint.h.

References vpException::badValue.

◆ setUseAffineDetection()

void vpKeyPoint::setUseAffineDetection ( 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 1986 of file vpKeyPoint.h.

◆ setUseMatchTrainToQuery()

void vpKeyPoint::setUseMatchTrainToQuery ( 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 2016 of file vpKeyPoint.h.

◆ setUseRansacConsensusPercentage()

void vpKeyPoint::setUseRansacConsensusPercentage ( 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 2025 of file vpKeyPoint.h.

◆ setUseRansacVVS()

void vpKeyPoint::setUseRansacVVS ( 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 2034 of file vpKeyPoint.h.

◆ setUseSingleMatchFilter()

void vpKeyPoint::setUseSingleMatchFilter ( 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 2042 of file vpKeyPoint.h.

Member Data Documentation

◆ m_currentImagePointsList

std::vector<vpImagePoint> vpBasicKeyPoint::m_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 264 of file vpBasicKeyPoint.h.

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

◆ m_matchedReferencePoints

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

protectedinherited

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 matchPoint(), and reset().

◆ m_reference_computed

bool vpBasicKeyPoint::m_reference_computed

protectedinherited

Flag to indicate if the reference has been built.

Definition at line 279 of file vpBasicKeyPoint.h.

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

◆ m_referenceImagePointsList

std::vector<vpImagePoint> vpBasicKeyPoint::m_referenceImagePointsList

protectedinherited

List of the points which define the reference.

Definition at line 258 of file vpBasicKeyPoint.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpDetectionMethodType

◆ vpFeatureDescriptorType

◆ vpFeatureDetectorType

◆ vpFilterMatchingType

◆ vpImageFormatType

Constructor & Destructor Documentation

◆ vpKeyPoint() [1/3]

◆ vpKeyPoint() [2/3]

◆ vpKeyPoint() [3/3]

Member Function Documentation

◆ buildReference() [1/10]

◆ buildReference() [2/10]

◆ buildReference() [3/10]

◆ buildReference() [4/10]

◆ buildReference() [5/10]

◆ buildReference() [6/10]

◆ buildReference() [7/10]

◆ buildReference() [8/10]

◆ buildReference() [9/10]

◆ buildReference() [10/10]

◆ compute3D() [1/2]

◆ compute3D() [2/2]

◆ compute3DForPointsInPolygons() [1/2]

◆ compute3DForPointsInPolygons() [2/2]

◆ compute3DForPointsOnCylinders() [1/2]

◆ compute3DForPointsOnCylinders() [2/2]

◆ computePose() [1/3]

◆ computePose() [2/3]

◆ computePose() [3/3]

◆ createImageMatching() [1/4]

◆ createImageMatching() [2/4]

◆ createImageMatching() [3/4]

◆ createImageMatching() [4/4]

◆ detect() [1/6]

◆ detect() [2/6]

◆ detect() [3/6]

◆ detect() [4/6]

◆ detect() [5/6]

◆ detect() [6/6]

◆ detectExtractAffine()

◆ display() [1/4]

◆ display() [2/4]

◆ display() [3/4]

◆ display() [4/4]

◆ displayMatching() [1/5]

◆ displayMatching() [2/5]

◆ displayMatching() [3/5]

◆ displayMatching() [4/5]

◆ displayMatching() [5/5]

◆ extract() [1/6]

◆ extract() [2/6]

◆ extract() [3/6]

◆ extract() [4/6]

◆ extract() [5/6]

◆ extract() [6/6]

◆ getAllPointsInReferenceImage()

◆ getCovarianceMatrix()

◆ getCurrentImagePointsList()

◆ getDetectionTime()

◆ getDetector() [1/2]

◆ getDetector() [2/2]

◆ getDetectorNames()

◆ getExtractionTime()

◆ getExtractor() [1/2]

◆ getExtractor() [2/2]

◆ getExtractorNames()

◆ getImageFormat()

◆ getIndexInAllReferencePointList()

◆ getMatchedPointNumber()

◆ getMatchedPoints()

◆ getMatchedReferencePoints()

◆ getMatcher()

◆ getMatches()

◆ getMatchingTime()