DVision::SurfSet Class Reference

Collection of surf keypoints + descriptors. More...

#include <SurfSet.h>

Public Member Functions
void	Extract (const cv::Mat &image, double hessianTh=400.0, bool extended=false)
void	Compute (const cv::Mat &image, const std::vector< cv::KeyPoint > &keypoints, bool extended=false)
int	GetDescriptorLength () const
unsigned int	size () const
bool	empty () const
std::vector< float >	get (unsigned int i) const
void	Remove (unsigned int i)
void	Remove (const std::vector< unsigned int > &ids)
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	RecalculateApproximationTree ()
void	Save (const std::string &filename) const
void	Load (const std::string &filename)
void	SaveCustom (const std::string &filename) const
void	LoadCustom (const std::string &filename)
Public Attributes
std::vector< cv::KeyPoint >	keys
	KeyPoint collection.
std::vector< float >	descriptors
	Descriptors associated to the keypoints.
std::vector< int >	laplacians
	Laplacian signs of the keypoints.
Protected Member Functions
void	save (cv::FileStorage &fs, int idx) const
void	load (cv::FileStorage &fs, int idx)
void	extract (const cv::Mat &image, const CvSURFParams &params)
void	compute (const cv::Mat &image, const std::vector< cv::KeyPoint > &keypoints, const CvSURFParams &params)
double	calculateSqDistance (std::vector< float >::const_iterator ita, std::vector< float >::const_iterator itb, const int L) const
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
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)
int	getPointOctave (const CvSURFPoint &kpt, const CvSURFParams &params) const
Protected Attributes
cv::flann::Index *	m_index
	Flann index.
Friends
class	Matches

Detailed Description

Collection of surf keypoints + descriptors.

Member Function Documentation

void DVision::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

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

void DVision::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

void DVision::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

double DVision::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

void SurfSet::compute	(	const cv::Mat &	image,
		const std::vector< cv::KeyPoint > &	keypoints,
		const CvSURFParams &	params
	)			`[protected]`

Performs the actual computation with the provided parameters

Parameters:

	image
	keypoints	keypoints to set
	params	surf detector parameters

See also:: SurfSet::Compute

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

bool DVision::SurfSet::empty ( ) const [inline]

Returns whether the key collection is empty

void SurfSet::extract	(	const cv::Mat &	image,
		const CvSURFParams &	params
	)			`[protected]`

Performs the actual extraction with the provided parameters

Parameters:

	image
	params	surf detector params

See also:: SurfSet::Extract

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

Extract surf points from an image

Parameters:

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

std::vector< float > DVision::SurfSet::get ( unsigned int i ) const [inline]

Returns a copy of the i-th descriptor

Parameters:

i

Returns:: i-th descriptor

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

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

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
	idx	index of set to load

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

Loads the features from filename and removes the current ones

Parameters:

filename

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

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

void SurfSet::Remove ( const std::vector< unsigned int > & ids )

Removes several poitns from the set preserving the order

Parameters:

ids

indexes to remove

void SurfSet::Remove ( unsigned int i )

Removes a point from the set, preserving the order

Parameters:

i

index to remove

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
	idx	index given to the saved set

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

Saves the features into a file with a OpenCV writer

Parameters:

filename

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

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

Returns the number of keypoints in the set

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

SurfSet.h
SurfSet.cpp

DVision::SurfSet Class Reference

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation