1 /**************************************************************************** 2 * 3 * ViSP, open source Visual Servoing Platform software. 4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved. 5 * 6 * This software is free software; you can redistribute it and/or modify 7 * it under the terms of the GNU General Public License as published by 8 * the Free Software Foundation; either version 2 of the License, or 9 * (at your option) any later version. 10 * See the file LICENSE.txt at the root directory of this source 11 * distribution for additional information about the GNU GPL. 12 * 13 * For using ViSP with software that can not be combined with the GNU 14 * GPL, please contact Inria about acquiring a ViSP Professional 15 * Edition License. 16 * 17 * See http://visp.inria.fr for more information. 18 * 19 * This software was developed at: 20 * Inria Rennes - Bretagne Atlantique 21 * Campus Universitaire de Beaulieu 22 * 35042 Rennes Cedex 23 * France 24 * 25 * If you have questions regarding the use of this file, please contact 26 * Inria at visp@inria.fr 27 * 28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE 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 42 /*! 43 \file vpBasicKeyPoint.h 44 \brief class that defines what is a Keypoint 45 */ 46 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 54 /*! 55 \class vpBasicKeyPoint 56 \ingroup group_vision_keypoints 57 58 \brief class that defines what is a Keypoint. This class provides 59 all the basic elements to implement classes which aims to match 60 points from an image to another. 61 */ 62 class VISP_EXPORT vpBasicKeyPoint 63 { 64 public: 65 vpBasicKeyPoint(); 66 ~vpBasicKeyPoint()67 virtual ~vpBasicKeyPoint() 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 94 /*! 95 Indicate wether the reference has been built or not. 96 97 \return True if the reference of the current instance has been built. 98 */ referenceBuilt()99 bool referenceBuilt() const { return _reference_computed; } 100 101 /*! 102 Get the pointer to the complete list of reference points. The pointer is 103 const. Thus the points can not be modified 104 105 \return The pointer to the complete list of reference points. 106 */ getAllPointsInReferenceImage()107 inline const vpImagePoint *getAllPointsInReferenceImage() { return &referenceImagePointsList[0]; } 108 109 /*! 110 Get the nth reference point. This point is copied in the vpImagePoint 111 instance given in argument. 112 113 \param index : The index of the desired reference point. The index must be 114 between 0 and the number of reference points - 1. 115 \param referencePoint : 116 The coordinates of the desired reference point are copied there. 117 */ getReferencePoint(unsigned int index,vpImagePoint & referencePoint)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 } 127 128 /*! 129 Get the nth couple of reference point and current point which have been 130 matched. These points are copied in the vpImagePoint instances given in 131 argument. 132 133 \param index : The index of the desired couple of reference point and 134 current point. The index must be between 0 and the number of matched 135 points - 1. 136 \param referencePoint : The coordinates of the desired reference point are copied here. 137 \param currentPoint : The coordinates of the desired current point are copied here. 138 */ getMatchedPoints(unsigned int index,vpImagePoint & referencePoint,vpImagePoint & currentPoint)139 inline void getMatchedPoints(unsigned int index, vpImagePoint &referencePoint, vpImagePoint ¤tPoint) 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 } 149 150 /*! 151 Get the nth matched reference point index in the complete list of 152 reference point. 153 154 In the code below referencePoint1 and referencePoint2 correspond to the 155 same matched reference point. 156 157 \code 158 vpKeyPointSurf surf; 159 160 //Here the code to compute the reference points and the current points. 161 162 vpImagePoint referencePoint1; 163 vpImagePoint currentPoint; 164 surf.getMatchedPoints(1, referencePoint1, currentPoint); //Get the first matched points 165 166 vpImagePoint referencePoint2; 167 const vpImagePoint* referencePointsList = surf.getAllPointsInReferenceImage(); 168 // Get the first matched reference point index in the complete reference point list 169 int index = surf.getIndexInAllReferencePointList(1); 170 // Get the first matched reference point 171 referencePoint2 = referencePointsList[index]; 172 \endcode 173 */ getIndexInAllReferencePointList(unsigned int indexInMatchedPointList)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 } 182 183 /*! 184 Get the number of reference points. 185 186 \return the number of reference points. 187 */ getReferencePointNumber()188 inline unsigned int getReferencePointNumber() const { return (unsigned int)referenceImagePointsList.size(); }; 189 190 /*! 191 Get the number of matched points. 192 193 \return the number of matched points. 194 */ getMatchedPointNumber()195 inline unsigned int getMatchedPointNumber() const { return (unsigned int)matchedReferencePoints.size(); }; 196 197 /*! 198 Return the vector of reference image point. 199 200 \warning Should not be modified. 201 202 \return Vector of reference image point. 203 */ getReferenceImagePointsList()204 const std::vector<vpImagePoint> &getReferenceImagePointsList() const { return referenceImagePointsList; } 205 206 /*! 207 Return the vector of current image point. 208 209 \warning Should not be modified. 210 211 \return Vector of the current image point. 212 */ getCurrentImagePointsList()213 const std::vector<vpImagePoint> &getCurrentImagePointsList() const { return currentImagePointsList; } 214 215 /*! 216 Return the index of the matched associated to the current image point i. 217 The ith element of the vector is the index of the reference image point 218 matching with the current image point. 219 220 \warning Should not be modified. 221 222 \return The vector of matching index. 223 */ getMatchedReferencePoints()224 const std::vector<unsigned int> &getMatchedReferencePoints() const { return matchedReferencePoints; } 225 226 private: 227 virtual void init() = 0; 228 229 protected: 230 /*! 231 List of the points which define the reference. 232 */ 233 std::vector<vpImagePoint> referenceImagePointsList; 234 235 /*! 236 List of the points which belong to the current image and have 237 been matched with points belonging to the reference. 238 */ 239 std::vector<vpImagePoint> currentImagePointsList; 240 241 /*! 242 Array containing the index in the array "referenceImagePointsList" of the 243 reference points which have been matched. 244 245 The first element of the "currentImagePointsList" array is matched with 246 the nth element of the "referenceImagePointsList" array. The value of n is 247 stored in the first element of the "matchedReferencePoints" array. 248 */ 249 std::vector<unsigned int> matchedReferencePoints; 250 251 //! flag to indicate if the reference has been built. 252 bool _reference_computed; 253 }; 254 255 #endif 256