Visual Servoing Platform version 3.5.0
vpBasicKeyPoint.h
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Key point used in matching algorithm.
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#ifndef vpBasicKeyPoint_H
40#define vpBasicKeyPoint_H
41
47#include <visp3/core/vpColor.h>
48#include <visp3/core/vpImage.h>
49#include <visp3/core/vpImagePoint.h>
50#include <visp3/core/vpRect.h>
51
52#include <vector>
53
62class VISP_EXPORT vpBasicKeyPoint
63{
64public:
66
68 {
69 matchedReferencePoints.resize(0);
70 currentImagePointsList.resize(0);
71 referenceImagePointsList.resize(0);
72 }
73
74 virtual unsigned int buildReference(const vpImage<unsigned char> &I) = 0;
75
76 virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP,
77 unsigned int height, unsigned int width) = 0;
78
79 virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle) = 0;
80
81 virtual unsigned int matchPoint(const vpImage<unsigned char> &I) = 0;
82
83 virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
84 unsigned int width) = 0;
85
86 virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle) = 0;
87
88 virtual void display(const vpImage<unsigned char> &Iref, const vpImage<unsigned char> &Icurrent,
89 unsigned int size = 3) = 0;
90
91 virtual void display(const vpImage<unsigned char> &Icurrent, unsigned int size = 3,
92 const vpColor &color = vpColor::green) = 0;
93
99 bool referenceBuilt() const { return _reference_computed; }
100
107 inline const vpImagePoint *getAllPointsInReferenceImage() { return &referenceImagePointsList[0]; }
108
118 inline void getReferencePoint(unsigned int index, vpImagePoint &referencePoint)
119 {
120 if (index >= referenceImagePointsList.size()) {
121 vpTRACE("Index of the reference point out of range");
122 throw(vpException(vpException::fatalError, "Index of the reference point out of range"));
123 }
124
125 referencePoint.set_ij(referenceImagePointsList[index].get_i(), referenceImagePointsList[index].get_j());
126 }
127
139 inline void getMatchedPoints(unsigned int index, vpImagePoint &referencePoint, vpImagePoint &currentPoint)
140 {
141 if (index >= matchedReferencePoints.size()) {
142 vpTRACE("Index of the matched points out of range");
143 throw(vpException(vpException::fatalError, "Index of the matched points out of range"));
144 }
145 referencePoint.set_ij(referenceImagePointsList[matchedReferencePoints[index]].get_i(),
146 referenceImagePointsList[matchedReferencePoints[index]].get_j());
147 currentPoint.set_ij(currentImagePointsList[index].get_i(), currentImagePointsList[index].get_j());
148 }
149
174 inline unsigned int getIndexInAllReferencePointList(unsigned int indexInMatchedPointList)
175 {
176 if (indexInMatchedPointList >= matchedReferencePoints.size()) {
177 vpTRACE("Index of the matched reference point out of range");
178 throw(vpException(vpException::fatalError, "Index of the matched reference point out of range"));
179 }
180 return matchedReferencePoints[indexInMatchedPointList];
181 }
182
188 inline unsigned int getReferencePointNumber() const { return (unsigned int)referenceImagePointsList.size(); };
189
195 inline unsigned int getMatchedPointNumber() const { return (unsigned int)matchedReferencePoints.size(); };
196
204 const std::vector<vpImagePoint> &getReferenceImagePointsList() const { return referenceImagePointsList; }
205
213 const std::vector<vpImagePoint> &getCurrentImagePointsList() const { return currentImagePointsList; }
214
224 const std::vector<unsigned int> &getMatchedReferencePoints() const { return matchedReferencePoints; }
225
226private:
227 virtual void init() = 0;
228
229protected:
233 std::vector<vpImagePoint> referenceImagePointsList;
234
239 std::vector<vpImagePoint> currentImagePointsList;
240
249 std::vector<unsigned int> matchedReferencePoints;
250
253};
254
255#endif
class that defines what is a Keypoint. This class provides all the basic elements to implement classe...
bool referenceBuilt() const
bool _reference_computed
flag to indicate if the reference has been built.
virtual unsigned int buildReference(const vpImage< unsigned char > &I)=0
std::vector< vpImagePoint > currentImagePointsList
unsigned int getMatchedPointNumber() const
virtual unsigned int matchPoint(const vpImage< unsigned char > &I, const vpRect &rectangle)=0
const std::vector< vpImagePoint > & getReferenceImagePointsList() const
void getReferencePoint(unsigned int index, vpImagePoint &referencePoint)
std::vector< unsigned int > matchedReferencePoints
void getMatchedPoints(unsigned int index, vpImagePoint &referencePoint, vpImagePoint &currentPoint)
virtual unsigned int matchPoint(const vpImage< unsigned char > &I, const vpImagePoint &iP, unsigned int height, unsigned int width)=0
std::vector< vpImagePoint > referenceImagePointsList
virtual unsigned int buildReference(const vpImage< unsigned char > &I, const vpImagePoint &iP, unsigned int height, unsigned int width)=0
virtual void display(const vpImage< unsigned char > &Icurrent, unsigned int size=3, const vpColor &color=vpColor::green)=0
virtual unsigned int buildReference(const vpImage< unsigned char > &I, const vpRect &rectangle)=0
virtual ~vpBasicKeyPoint()
const std::vector< vpImagePoint > & getCurrentImagePointsList() const
unsigned int getIndexInAllReferencePointList(unsigned int indexInMatchedPointList)
virtual unsigned int matchPoint(const vpImage< unsigned char > &I)=0
unsigned int getReferencePointNumber() const
const std::vector< unsigned int > & getMatchedReferencePoints() const
const vpImagePoint * getAllPointsInReferenceImage()
virtual void display(const vpImage< unsigned char > &Iref, const vpImage< unsigned char > &Icurrent, unsigned int size=3)=0
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor green
Definition: vpColor.h:220
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void set_ij(double ii, double jj)
Definition: vpImagePoint.h:188
Defines a rectangle in the plane.
Definition: vpRect.h:80
#define vpTRACE
Definition: vpDebug.h:416