This class can be used to store informations about point and features. This is an abstract class: you can't use it directly. Use for instance PointsToTrackWithImage. More...

#include <PointsToTrack.h>

Inheritance diagram for OpencvSfM::PointsToTrack:

List of all members.

Public Member Functions
	PointsToTrack (int corresponding_image=-1, std::vector< cv::KeyPoint > keypoints=std::vector< cv::KeyPoint >(0), cv::Mat descriptors=cv::Mat())
virtual	~PointsToTrack (void)
void	free_descriptors (bool force=false)
int	computeKeypointsAndDesc (bool forcing_recalculation=false)
int	computeKeypoints ()
void	computeDescriptors ()
void	addKeypoints (std::vector< cv::KeyPoint > keypoints, cv::Mat descriptors=cv::Mat(), bool computeMissingDescriptor=false)
unsigned int	addKeypoint (const cv::KeyPoint point, double min_dist=1.0)
std::vector< cv::KeyPoint > &	getModifiableKeypoints ()
const std::vector< cv::KeyPoint > &	getKeypoints () const
void	getKeyMatches (const std::vector< TrackOfPoints > &matches, int otherImage, std::vector< cv::Point2f > &pointsVals) const
const cv::KeyPoint &	getKeypoint (unsigned int index) const
size_t	getClosestKeypoint (cv::Point2f point)
cv::Mat	getDescriptors () const
cv::Mat	getImage ()
void	printPointsOnImage (const cv::Mat &image, cv::Mat &outImg, const cv::Scalar &color=cv::Scalar::all(-1), int flags=cv::DrawMatchesFlags::DEFAULT) const
unsigned int	getColor (unsigned int index) const
void	filterByDistance (double dist_min)
Static Public Member Functions
static void	read (const cv::FileNode &node, PointsToTrack &points)
static void	write (cv::FileStorage &fs, const PointsToTrack &points)
Protected Member Functions
	DECLARE_MUTEX (worker_exclusion)
virtual int	impl_computeKeypoints_ ()
virtual void	impl_computeDescriptors_ ()
void	impl_filterByDistance_ (double dist_min)
Protected Attributes
unsigned int	nb_workers_
std::vector< cv::KeyPoint >	keypoints_
cv::Mat	descriptors_
cv::Mat	imageToAnalyse_
std::vector< unsigned int >	RGB_values_
int	corresponding_image_
	index of frame when available
Static Protected Attributes
static int	glob_number_images_ = 0
	total numbers of images!

Detailed Description

This class can be used to store informations about point and features. This is an abstract class: you can't use it directly. Use for instance PointsToTrackWithImage.

To create a structure from motion, most methods use points to compute the structure. This class focus on the first task in SfM: find points in image which are easy to track... When available, a feature vector for each points is very helpful: the matching will be easier.

Definition at line 25 of file PointsToTrack.h.

Constructor & Destructor Documentation

OpencvSfM::PointsToTrack::PointsToTrack	(	int	corresponding_image = `-1`,
		std::vector< cv::KeyPoint >	keypoints = `std::vector<cv::KeyPoint>( 0 )`,
		cv::Mat	descriptors = `cv::Mat( )`
	)

this constructor create an object with available information...

Parameters:

corresponding_image	Global index of image
keypoints	the points we will try to track...
descriptors	the feature vector for each points...

Definition at line 15 of file PointsToTrack.cpp.

OpencvSfM::PointsToTrack::~PointsToTrack ( void ) [virtual]

Destructor : delete points and features vectors

Definition at line 42 of file PointsToTrack.cpp.

Member Function Documentation

unsigned int OpencvSfM::PointsToTrack::addKeypoint	(	const cv::KeyPoint	point,
		double	min_dist = `1.0`
	)		`[inline]`

This method is used to add a keypoint at the end of the points vector...

Parameters:

point	Keypoints to add
min_dist	minimum� distance between wanted point to add and any existing point... If below this threshold, the point will not being added and the index returned will be the index of the closest point...

Returns:: index of the added keypoint.

Definition at line 130 of file PointsToTrack.h.

void OpencvSfM::PointsToTrack::addKeypoints	(	std::vector< cv::KeyPoint >	keypoints,
		cv::Mat	descriptors = `cv::Mat( )`,
		bool	computeMissingDescriptor = `false`
	)

This method is used to add Keypoints...

Parameters:

keypoints	Keypoints to add
descriptors	of points, if any
computeMissingDescriptor	if true, the missing descriptors are computed.

Definition at line 129 of file PointsToTrack.cpp.

void OpencvSfM::PointsToTrack::computeDescriptors ( )

This method is used to compute only descriptors...

Definition at line 121 of file PointsToTrack.cpp.

Referenced by addKeypoints().

int OpencvSfM::PointsToTrack::computeKeypoints ( )

This method is used to compute only Keypoints...

Returns:: the number of points

Definition at line 112 of file PointsToTrack.cpp.

int OpencvSfM::PointsToTrack::computeKeypointsAndDesc ( bool forcing_recalculation = false )

This method is used to compute both Keypoints and descriptors...

Parameters:

forcing_recalculation if true previous keypoints are removed... If false and if keypoints and descriptor exists, nothing is done.

Returns:: the number of points

Definition at line 49 of file PointsToTrack.cpp.

Referenced by write().

OpencvSfM::PointsToTrack::DECLARE_MUTEX ( worker_exclusion ) [protected]

As we want to be able to compute points using parallel execution, and as not every Opencv functions are thread safe, use this mutex to take care of critical portions.

void OpencvSfM::PointsToTrack::filterByDistance ( double dist_min )

Use this function to filter point by distance between each other

Parameters:

dist_min minimum distance allowed between points

Definition at line 105 of file PointsToTrack.cpp.

Referenced by addKeypoints(), and computeKeypoints().

void OpencvSfM::PointsToTrack::free_descriptors ( bool force = false )

To preserve memory, we use this method to free descriptors

Parameters:

force if true, the descriptors are removed

Definition at line 29 of file PointsToTrack.cpp.

size_t OpencvSfM::PointsToTrack::getClosestKeypoint ( cv::Point2f point )

this method return the closest points from parameter

Parameters:

point coordinate of the point to search for

Returns:: index of the point

Definition at line 248 of file PointsToTrack.cpp.

unsigned int OpencvSfM::PointsToTrack::getColor ( unsigned int index ) const [inline]

Use this function to get the color of a point

Parameters:

index of the wanted point

Returns:: color packed into the ARGB format

Definition at line 215 of file PointsToTrack.h.

cv::Mat OpencvSfM::PointsToTrack::getDescriptors ( ) const [inline]

this method return the descritors for each points in a matrix with size ( n*m ), where n is the number of points and m is the desciptor size.

Returns:: descritors for each points in a matrix with size ( n*m ), where n is the number of points and m is the desciptor size.

Definition at line 195 of file PointsToTrack.h.

cv::Mat OpencvSfM::PointsToTrack::getImage ( ) [inline]

Get the image used to compute points

Definition at line 199 of file PointsToTrack.h.

void OpencvSfM::PointsToTrack::getKeyMatches	(	const std::vector< TrackOfPoints > &	matches,
		int	otherImage,
		std::vector< cv::Point2f > &	pointsVals
	)		const

This method update the points coordinates (last parameter) corresponding to tracks containing image index "otherImage"

Parameters:

matches	list of tracks. Only points found in tracks are returned
otherImage	index of wanted image
pointsVals	[ out ] points found in tracks

Definition at line 228 of file PointsToTrack.cpp.

const cv::KeyPoint& OpencvSfM::PointsToTrack::getKeypoint ( unsigned int index ) const [inline]

this method return the points coordinates of the i^th entry

Parameters:

index number of keypoints wanted

Returns:: points coordinates and when available orientation and size

Definition at line 180 of file PointsToTrack.h.

const std::vector<cv::KeyPoint>& OpencvSfM::PointsToTrack::getKeypoints ( ) const [inline]

this method return the points coordinates and sometimes orientation and size

Returns:: points coordinates and when available orientation and size

Definition at line 165 of file PointsToTrack.h.

std::vector<cv::KeyPoint>& OpencvSfM::PointsToTrack::getModifiableKeypoints ( ) [inline]

this method return the points coordinates and sometimes orientation and size

Returns:: points coordinates and when available orientation and size

Definition at line 160 of file PointsToTrack.h.

virtual void OpencvSfM::PointsToTrack::impl_computeDescriptors_ ( ) [inline, protected, virtual]

This is the method you should implement when you create a new descriptors extractor...

Reimplemented in OpencvSfM::PointsToTrackWithImage.

Definition at line 72 of file PointsToTrack.h.

Referenced by computeDescriptors(), computeKeypointsAndDesc(), and impl_filterByDistance_().

virtual int OpencvSfM::PointsToTrack::impl_computeKeypoints_ ( ) [inline, protected, virtual]

This is the method you should implement when you create a new point detector algorithm.

Returns:: the number of points

Reimplemented in OpencvSfM::PointsToTrackWithImage.

Definition at line 67 of file PointsToTrack.h.

Referenced by computeKeypoints(), and computeKeypointsAndDesc().

void OpencvSfM::PointsToTrack::impl_filterByDistance_ ( double dist_min ) [protected]

Use this function to filter point by distance between each other Not thread safe!

Parameters:

dist_min minimum distance allowed between points

Definition at line 75 of file PointsToTrack.cpp.

Referenced by computeKeypointsAndDesc(), and filterByDistance().

void OpencvSfM::PointsToTrack::printPointsOnImage	(	const cv::Mat &	image,
		cv::Mat &	outImg,
		const cv::Scalar &	color = `cv::Scalar::all( -1 )`,
		int	flags = `cv::DrawMatchesFlags::DEFAULT`
	)		const

To show the points on image, use this function to draw points on it.

Parameters:

image	Source image.
outImg	Output image. Its content depends on flags value what is drawn in output image. See possible flags bit values.
color	Color of keypoints
flags	Possible flags bit values is defined by DrawMatchesFlags ( see http://opencv.willowgarage.com/documentation/cpp/features2d_drawing_function_of_keypoints_and_matches.html#cv-drawmatches )

Definition at line 161 of file PointsToTrack.cpp.

void OpencvSfM::PointsToTrack::read	(	const cv::FileNode &	node,
		PointsToTrack &	points
	)		`[static]`

Load the points from a YAML file.

Parameters:

node	Previously opened YAML file node
points	output

Definition at line 167 of file PointsToTrack.cpp.

void OpencvSfM::PointsToTrack::write	(	cv::FileStorage &	fs,
		const PointsToTrack &	points
	)		`[static]`

Save the points into a YAML file.

Parameters:

fs	Previously opened YAML file node
points	sequence to save...

Definition at line 209 of file PointsToTrack.cpp.

Member Data Documentation

cv::Mat OpencvSfM::PointsToTrack::descriptors_ [protected]

this attribute will store descritors for each points in a matrix with size ( n*m ), where n is the number of points and m is the desciptor size.

Definition at line 49 of file PointsToTrack.h.

Referenced by addKeypoints(), computeKeypointsAndDesc(), free_descriptors(), OpencvSfM::PointsToTrackWithImage::impl_computeDescriptors_(), impl_filterByDistance_(), read(), write(), and ~PointsToTrack().

cv::Mat OpencvSfM::PointsToTrack::imageToAnalyse_ [protected]

When available, the picture from where points are detected

Definition at line 54 of file PointsToTrack.h.

Referenced by OpencvSfM::PointsToTrackWithImage::computeColorOfPoints(), OpencvSfM::PointsToTrackWithImage::impl_computeDescriptors_(), OpencvSfM::PointsToTrackWithImage::impl_computeKeypoints_(), and OpencvSfM::PointsToTrackWithImage::PointsToTrackWithImage().

std::vector<cv::KeyPoint> OpencvSfM::PointsToTrack::keypoints_ [protected]

This attribute will store points coordinates and sometimes orientation and size

Definition at line 43 of file PointsToTrack.h.

Referenced by addKeypoints(), OpencvSfM::PointsToTrackWithImage::computeColorOfPoints(), computeKeypoints(), computeKeypointsAndDesc(), getClosestKeypoint(), getKeyMatches(), OpencvSfM::PointsToTrackWithImage::impl_computeDescriptors_(), OpencvSfM::PointsToTrackWithImage::impl_computeKeypoints_(), impl_filterByDistance_(), printPointsOnImage(), read(), write(), and ~PointsToTrack().

unsigned int OpencvSfM::PointsToTrack::nb_workers_ [protected]

To preserve memory, we need to know how many process are working with theses points...

Definition at line 38 of file PointsToTrack.h.

Referenced by computeDescriptors(), computeKeypointsAndDesc(), free_descriptors(), impl_filterByDistance_(), PointsToTrack(), and read().

std::vector<unsigned int> OpencvSfM::PointsToTrack::RGB_values_ [protected]

When available, the color of each point can be stored here.

Definition at line 58 of file PointsToTrack.h.

Referenced by OpencvSfM::PointsToTrackWithImage::computeColorOfPoints(), read(), and write().

The documentation for this class was generated from the following files:

D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/PointsToTrack.h
D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/PointsToTrack.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation