Visual Servoing Platform  version 3.4.0 under development (2021-04-14)
vpKeyPointSurf.h
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30  *
31  * Description:
32  * Key point Surf.
33  *
34  * Authors:
35  * Nicolas Melchior
36  *
37  *****************************************************************************/
38 
39 #ifndef vpKeyPointSurf_H
40 #define vpKeyPointSurf_H
41 
50 #include <visp3/vision/vpBasicKeyPoint.h>
51 
52 #include <list>
53 #include <vector>
54 
55 #if defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
56 
57 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400) // Require opencv >= 1.1.0 < 3.0.0
58 #include <opencv2/core/core.hpp>
59 #include <opencv2/features2d/features2d.hpp>
60 #include <opencv2/legacy/compat.hpp>
61 #include <opencv2/nonfree/nonfree.hpp>
62 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
63 #include <opencv2/features2d/features2d.hpp>
64 #elif (VISP_HAVE_OPENCV_VERSION >= 0x010100) // Require opencv >= 1.1.0
65 #include <cv.h>
66 #include <cxcore.h>
67 #endif
68 
183 class VISP_EXPORT vpKeyPointSurf : public vpBasicKeyPoint
184 {
185 public:
190  typedef enum {
191  basicDescriptor, /*<! basicDescriptor means that the descriptors are
192  composed by 64 elements floating-point vector. */
193  extendedDescriptor /*<! Means that the descriptors are composed by
194  128 elements floating-point vector. */
195  } vpDescriptorType;
196 
197 public:
198  vpKeyPointSurf();
199 
200  virtual ~vpKeyPointSurf();
201 
202  unsigned int buildReference(const vpImage<unsigned char> &I);
203  unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
204  unsigned int width);
205  unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle);
206  unsigned int matchPoint(const vpImage<unsigned char> &I);
207  unsigned int matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
208  unsigned int width);
209  unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle);
210  void display(const vpImage<unsigned char> &Iref, const vpImage<unsigned char> &Icurrent, unsigned int size = 3);
211  void display(const vpImage<unsigned char> &Icurrent, unsigned int size = 3, const vpColor &color = vpColor::green);
212  std::list<int *> *matchPoint(std::list<float *> descriptorList, std::list<int> laplacianList);
213  float *getDescriptorReferencePoint(int index);
214  int getLaplacianReferencePoint(int index);
215  void getDescriptorParamReferencePoint(int index, int &size, float &dir);
229  void setHessianThreshold(double hessian_threshold)
230  {
231  this->hessianThreshold = hessian_threshold;
232  params = cvSURFParams(this->hessianThreshold, this->descriptorType);
233  };
234 
241  void setDescriptorType(vpDescriptorType descriptor_type)
242  {
243  this->descriptorType = descriptor_type;
244  params = cvSURFParams(this->hessianThreshold, this->descriptorType);
245  };
246 
252  double getHessianThreshold() { return hessianThreshold; }
253 
259  vpDescriptorType getDescriptorType() { return descriptorType; }
260 
261 private:
262  void init();
263 
264 private:
265  // OpenCV Parameters
266  CvMemStorage *storage;
267  CvSURFParams params;
268  CvMemStorage *storage_cur;
269 
270  CvSeq *image_keypoints;
271  CvSeq *image_descriptors;
272 
273  CvSeq *ref_keypoints;
274  CvSeq *ref_descriptors;
275 
283  double hessianThreshold;
284  vpDescriptorType descriptorType;
285 };
286 
287 #endif
288 
289 #endif
class that defines what is a Keypoint. This class provides all the basic elements to implement classe...
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
virtual unsigned int buildReference(const vpImage< unsigned char > &I)=0
virtual void display(const vpImage< unsigned char > &Iref, const vpImage< unsigned char > &Icurrent, unsigned int size=3)=0
virtual unsigned int matchPoint(const vpImage< unsigned char > &I)=0
Defines a rectangle in the plane.
Definition: vpRect.h:79
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87