vpBasicKeyPoint.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Key point used in matching algorithm.
 */
 
#ifndef vpBasicKeyPoint_H
#define vpBasicKeyPoint_H

 
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpRect.h>
 
#include <vector>

class VISP_EXPORT vpBasicKeyPoint
{
public:
  vpBasicKeyPoint()
    : referenceImagePointsList(), currentImagePointsList(), matchedReferencePoints(), _reference_computed(false)
  { }

  virtual ~vpBasicKeyPoint()
  {
    matchedReferencePoints.resize(0);
    currentImagePointsList.resize(0);
    referenceImagePointsList.resize(0);
  }

  virtual unsigned int buildReference(const vpImage<unsigned char> &I) = 0;

  virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
  unsigned int width) = 0;

  virtual unsigned int buildReference(const vpImage<unsigned char> &I, const vpRect &rectangle) = 0;

  virtual unsigned int matchPoint(const vpImage<unsigned char> &I) = 0;

  virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int height,
    unsigned int width) = 0;

  virtual unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect &rectangle) = 0;

  virtual void display(const vpImage<unsigned char> &Iref, const vpImage<unsigned char> &Icurrent,
    unsigned int size = 3) = 0;

  virtual void display(const vpImage<unsigned char> &Icurrent, unsigned int size = 3,
  const vpColor &color = vpColor::green) = 0;

  bool referenceBuilt() const { return _reference_computed; }

  inline const vpImagePoint *getAllPointsInReferenceImage() { return &referenceImagePointsList[0]; }

  inline void getReferencePoint(unsigned int index, vpImagePoint &referencePoint)
  {
    if (index >= referenceImagePointsList.size()) {
      vpTRACE("Index of the reference point out of range");
      throw(vpException(vpException::fatalError, "Index of the reference point out of range"));
    }
 
    referencePoint.set_ij(referenceImagePointsList[index].get_i(), referenceImagePointsList[index].get_j());
  }

  inline void getMatchedPoints(unsigned int index, vpImagePoint &referencePoint, vpImagePoint &currentPoint)
  {
    if (index >= matchedReferencePoints.size()) {
      vpTRACE("Index of the matched points out of range");
      throw(vpException(vpException::fatalError, "Index of the matched points out of range"));
    }
    referencePoint.set_ij(referenceImagePointsList[matchedReferencePoints[index]].get_i(),
      referenceImagePointsList[matchedReferencePoints[index]].get_j());
    currentPoint.set_ij(currentImagePointsList[index].get_i(), currentImagePointsList[index].get_j());
  }

  inline unsigned int getIndexInAllReferencePointList(unsigned int indexInMatchedPointList)
  {
    if (indexInMatchedPointList >= matchedReferencePoints.size()) {
      vpTRACE("Index of the matched reference point out of range");
      throw(vpException(vpException::fatalError, "Index of the matched reference point out of range"));
    }
    return matchedReferencePoints[indexInMatchedPointList];
  }

  inline unsigned int getReferencePointNumber() const { return (unsigned int)referenceImagePointsList.size(); };

  inline unsigned int getMatchedPointNumber() const { return (unsigned int)matchedReferencePoints.size(); };

  const std::vector<vpImagePoint> &getReferenceImagePointsList() const { return referenceImagePointsList; }

  const std::vector<vpImagePoint> &getCurrentImagePointsList() const { return currentImagePointsList; }

  const std::vector<unsigned int> &getMatchedReferencePoints() const { return matchedReferencePoints; }
 
private:
  virtual void init() = 0;
 
protected:
  std::vector<vpImagePoint> referenceImagePointsList;

  std::vector<vpImagePoint> currentImagePointsList;

  std::vector<unsigned int> matchedReferencePoints;

  bool _reference_computed;
};
 
#endif