SiftType Class Reference

#include <SiftType.h>

Inheritance diagram for SiftType:

List of all members.

Public Member Functions
	SiftType ()
	SiftType (const bool &lc, SIFT::CommonParams const &cp, SIFT::DetectorParams const &detp, SIFT::DescriptorParams const &desp)
	SiftType (const SiftType &orig)
virtual	~SiftType ()
virtual string	isType () const
virtual void	compute_frame (const Mat &img, vector< KeyPoint > &keypoints, vector< Lane >const &lanes) const
virtual void	reset_detector ()
Private Attributes
SIFT	sift
bool	crop_lanes
SIFT::CommonParams	commonParams
SIFT::DescriptorParams	descriptorParams
SIFT::DetectorParams	detectorParams

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Detailed Description

Definition at line 26 of file SiftType.h.

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Constructor & Destructor Documentation

SiftType::SiftType

(

)

Definition at line 10 of file SiftType.cpp.

References commonParams, descriptorParams, detectorParams, and sift.

                   {
    
    commonParams = sift.getCommonParams();
    detectorParams = sift.getDetectorParams();
    descriptorParams = sift.getDescriptorParams();
    
}

SiftType::SiftType	(	const bool &	lc,
		SIFT::CommonParams const &	cp,
		SIFT::DetectorParams const &	detp,
		SIFT::DescriptorParams const &	desp
	)

Definition at line 18 of file SiftType.cpp.

                                    : crop_lanes(lc), detectorParams(detp), descriptorParams(desp){
    
}

SiftType::SiftType

(

const SiftType &

orig

)

Definition at line 25 of file SiftType.cpp.

                                       {
}

SiftType::~SiftType

(

)

[virtual]

Definition at line 28 of file SiftType.cpp.

                    {
}

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Member Function Documentation

void SiftType::compute_frame	(	const Mat &	img,
		vector< KeyPoint > &	keypoints,
		vector< Lane >const &	lanes
	)		const [virtual]

Run sift on the current frame and output the keypoints and their descriptors

Parameters:

[in]	img	Image to be evaluated
[out]	keypoints	Keypoints to be shown

Implements DetectorType.

Definition at line 35 of file SiftType.cpp.

References crop_lanes, cropSubImage(), expandRect(), insideLane(), pointsEqual(), and sift.

                                                                                                        {
        
    keypoints.clear();
    vector<KeyPoint> points, tpoints;
    
    //crop lane image
    if( crop_lanes == true ){
        
        Rect bbox;
        Mat subImg;
        
        //iterate over each crop, computing the sub-image, then sift
        for( size_t i=0; i<lanes.size(); i++){
            tpoints.clear();
            
            bbox = expandRect(lanes[i].bbox(), 50, Size(img.cols, img.rows));
            subImg = cropSubImage(img, bbox);
            
            
            sift(subImg, Mat(), tpoints);
            
            //append points to list
            for(size_t k=0; k<tpoints.size(); k++){
                Point2f tp = Point2f(tpoints[k].pt.x+bbox.x, tpoints[k].pt.y+bbox.y);
                tpoints[k].pt = tp;
                points.push_back(tpoints[k]);
            }
        }
        
        //remove unique points
        unique(points.begin(), points.end(), pointsEqual);
        
    }
    else{
    
        sift(img, Mat(), points);
        
    }
    
    for( size_t i=0; i<points.size(); i++)
        if( insideLane(points[i].pt, lanes) == true ){
            keypoints.push_back(points[i]);
        }
}

string SiftType::isType

(

)

const [virtual]

Reimplemented from DetectorType.

Definition at line 31 of file SiftType.cpp.

                             {
    return "SiftType";
}

void SiftType::reset_detector

(

)

[virtual]

Implements DetectorType.

Definition at line 80 of file SiftType.cpp.

References commonParams, descriptorParams, detectorParams, and sift.

                             {
    
    sift = SIFT(commonParams, detectorParams, descriptorParams );
    
}

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Member Data Documentation

SIFT::CommonParams SiftType::commonParams [private]

Definition at line 52 of file SiftType.h.

Referenced by reset_detector(), and SiftType().

bool SiftType::crop_lanes [private]

Definition at line 51 of file SiftType.h.

Referenced by compute_frame().

SIFT::DescriptorParams SiftType::descriptorParams [private]

Definition at line 53 of file SiftType.h.

Referenced by reset_detector(), and SiftType().

SIFT::DetectorParams SiftType::detectorParams [private]

Definition at line 54 of file SiftType.h.

Referenced by reset_detector(), and SiftType().

SIFT SiftType::sift [private]

Definition at line 49 of file SiftType.h.

Referenced by compute_frame(), reset_detector(), and SiftType().

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

• src/structures/SiftType.h
• src/structures/SiftType.cpp