#include <SurfSet.h>

Public Member Functions
void	CalculateCorrespondences (const SurfSet &B, std::vector< int > &A_corr, std::vector< int > &B_corr, std::vector< double > *distances=NULL, bool remove_duplicates=true, double max_ratio=0.6) const
void	CalculateFastCorrespondences (const SurfSet &B, std::vector< int > &A_corr, std::vector< int > &B_corr, std::vector< double > *distances=NULL, bool remove_duplicates=true, double max_ratio=0.6)
void	Compute (const cv::Mat &image, const std::vector< cv::KeyPoint > &keypoints, bool extended=false)
void	Extract (const cv::Mat &image, double hessianTh=400.0, bool extended=false)
int	GetDescriptorLength () const
int	getPointOctave (const CvSURFPoint &kpt, const CvSURFParams &params)
void	Load (const std::string &filename)
void	LoadCustom (const std::string &filename)
void	RecalculateApproximationTree ()
void	Save (const std::string &filename) const
void	SaveCustom (const std::string &filename) const
unsigned int	size () const
	SurfSet ()
virtual	~SurfSet ()
Public Attributes
std::vector< float >	descriptors
std::vector< cv::KeyPoint >	keys
std::vector< int >	laplacians
Protected Member Functions
void	calculateCorrespondencesApproximate (const SurfSet &B, std::vector< int > &A_corr, std::vector< int > &B_corr, std::vector< double > *distances, bool remove_duplicates, double max_ratio)
void	calculateCorrespondencesNaive (const SurfSet &B, std::vector< int > &A_corr, std::vector< int > &B_corr, std::vector< double > *distances, bool remove_duplicates, double max_ratio) const
double	calculateSqDistance (std::vector< float >::const_iterator ita, std::vector< float >::const_iterator itb, const int L) const
int	getPointOctave (const CvSURFPoint &kpt, const CvSURFParams &params) const
void	load (cv::FileStorage &fs, int idx)
void	save (cv::FileStorage &fs, int idx) const
Protected Attributes
cv::flann::Index *	m_index
Friends
class	Matches

Detailed Description

Definition at line 40 of file SurfSet.h.

Constructor & Destructor Documentation

DVision::SurfSet::SurfSet ( ) [inline]

Definition at line 49 of file SurfSet.h.

virtual DVision::SurfSet::~SurfSet ( ) [inline, virtual]

Definition at line 50 of file SurfSet.h.

Member Function Documentation

void SurfSet::CalculateCorrespondences	(	const SurfSet &	B,
		std::vector< int > &	A_corr,
		std::vector< int > &	B_corr,
		std::vector< double > *	distances = `NULL`,
		bool	remove_duplicates = `true`,
		double	max_ratio = `0.6`
	)		const

Calculates correspondences between this set and the set B

Parameters:

B	other set
A_corr	indices of matched points from this set
B_corr	indices of matched points from the set B
distances	if given, the distance between the correspondences is stored here
remove_duplicates	if true, ambiguous matches are discarded
max_ratio	max ratio between the two nearest neighbours

Definition at line 283 of file SurfSet.cpp.

void SurfSet::calculateCorrespondencesApproximate	(	const SurfSet &	B,
		std::vector< int > &	A_corr,
		std::vector< int > &	B_corr,
		std::vector< double > *	distances,
		bool	remove_duplicates,
		double	max_ratio
	)		`[protected]`

Calculates correspondences between this set and the set B by flann

Parameters:

B	other set
A_corr	indices of matched points from this set
B_corr	indices of matched points from the set B
distances	the distance between the correspondences is stored here
remove_duplicates	if true, ambiguous matches are discarded
max_ratio	max ratio between the two nearest neighbours

Definition at line 305 of file SurfSet.cpp.

void SurfSet::calculateCorrespondencesNaive	(	const SurfSet &	B,
		std::vector< int > &	A_corr,
		std::vector< int > &	B_corr,
		std::vector< double > *	distances,
		bool	remove_duplicates,
		double	max_ratio
	)		const `[protected]`

Calculates correspondences between this set and the set B by brute force

Parameters:

B	other set
A_corr	indices of matched points from this set
B_corr	indices of matched points from the set B
distances	the distance between the correspondences is stored here
remove_duplicates	if true, ambiguous matches are discarded
max_ratio	max ratio between the two nearest neighbours

Definition at line 446 of file SurfSet.cpp.

void SurfSet::CalculateFastCorrespondences	(	const SurfSet &	B,
		std::vector< int > &	A_corr,
		std::vector< int > &	B_corr,
		std::vector< double > *	distances = `NULL`,
		bool	remove_duplicates = `true`,
		double	max_ratio = `0.6`
	)

Calculates correspondences between this set and the set B by using flann

Parameters:

B	other set
A_corr	indices of matched points from this set
B_corr	indices of matched points from the set B
distances	if given, the distance between the correspondences is stored here
remove_duplicates	if true, ambiguous matches are discarded
max_ratio	max ratio between the two nearest neighbours

Definition at line 294 of file SurfSet.cpp.

double SurfSet::calculateSqDistance	(	std::vector< float >::const_iterator	ita,
		std::vector< float >::const_iterator	itb,
		const int	L
	)		const `[protected]`

Calculates the square distance between two descriptors

Parameters:

ita	beginning of one descriptor
itb	beginning of the other descriptor
L	length of descriptor vectors

Definition at line 549 of file SurfSet.cpp.

void SurfSet::Compute	(	const cv::Mat &	image,
		const std::vector< cv::KeyPoint > &	keypoints,
		bool	extended = `false`
	)

Copies the given keypoints and computes their SURF descriptors

Parameters:

image
keypoints
extended	if true, 128-dimensional surf are used instead of 64-d

Note:: the laplacian vector cannot be computed, so it is filled with ones

Definition at line 192 of file SurfSet.cpp.

void SurfSet::Extract	(	const cv::Mat &	image,
		double	hessianTh = `400.0`,
		bool	extended = `false`
	)

Extract surf points from an image

Parameters:

image
surf	surf data
hessianTh	hessian threshold
extended	if true, 128-dimensional surf are used instead of 64-d

Note:: the octave is not returned and it is always 1

Definition at line 112 of file SurfSet.cpp.

int DVision::SurfSet::GetDescriptorLength ( ) const [inline]

Returns the length of the descriptor vectors of the SURF features or 0 if no features have been extracted yet

Returns:: descriptor vector length

Definition at line 78 of file SurfSet.h.

int SurfSet::getPointOctave	(	const CvSURFPoint &	kpt,
		const CvSURFParams &	params
	)

Compute the octave of the SURF points.

Parameters:

kpt	is a keypoint
params

Definition at line 625 of file SurfSet.cpp.

int SurfSet::getPointOctave	(	const CvSURFPoint &	kpt,
		const CvSURFParams &	params
	)		const `[protected]`

Returns the octave of a surf keypoint

Parameters:

kpt	keypoint
params	extractor parameters

Note:: This function is copied from the opencv surf.cpp file, written by Liu Liu

Definition at line 674 of file SurfSet.cpp.

void SurfSet::Load ( const std::string & filename )

Loads the features from filename and removes the current ones

Parameters:

filename

Definition at line 618 of file SurfSet.cpp.

void SurfSet::load	(	cv::FileStorage &	fs,
		int	idx
	)		`[protected]`

Loads the surfset from the given file storage The keys are created with the suffix idx

Parameters:

fs

Definition at line 649 of file SurfSet.cpp.

void SurfSet::LoadCustom ( const std::string & filename )

Loads the features from a custom file, removing the current ones

Parameters:

filename

Note:: This function is DEPRECATED

Definition at line 74 of file SurfSet.cpp.

void SurfSet::RecalculateApproximationTree ( )

Creates the flann index to compute approximate correspondences. This function is called automatically the first time when CalculateCorrespondences is invoked in the approximate mode

Definition at line 566 of file SurfSet.cpp.

void SurfSet::Save ( const std::string & filename ) const

Saves the features into a file with a OpenCV writer

Parameters:

filename

Definition at line 580 of file SurfSet.cpp.

void SurfSet::save	(	cv::FileStorage &	fs,
		int	idx
	)		const `[protected]`

Saves the surfset in the given file storage The keys are created with the suffix idx

Parameters:

fs

Definition at line 588 of file SurfSet.cpp.

void SurfSet::SaveCustom ( const std::string & filename ) const

Saves the features into a file in a custom format

Parameters:

filename

Note:: This function is DEPRECATED; The file format starts with 2 integers giving the total number of keypoints and the size of descriptor vector for each keypoint. Then each keypoint is specified by the following fields: x y angle size hessian octave laplacian_sign descriptor_vector

Definition at line 42 of file SurfSet.cpp.

unsigned int DVision::SurfSet::size ( ) const [inline]

Returns the number of keypoints in the set

Definition at line 87 of file SurfSet.h.

Friends And Related Function Documentation

friend class Matches [friend]

Definition at line 166 of file SurfSet.h.

Member Data Documentation

std::vector<float> DVision::SurfSet::descriptors

Definition at line 44 of file SurfSet.h.

std::vector<cv::KeyPoint> DVision::SurfSet::keys

Definition at line 43 of file SurfSet.h.

std::vector<int> DVision::SurfSet::laplacians

Definition at line 45 of file SurfSet.h.

cv::flann::Index* DVision::SurfSet::m_index [protected]

Definition at line 232 of file SurfSet.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation