yape Class Reference

YAPE feature point detector. More...

#include <yape.h>

Inheritance diagram for yape:

Collaboration diagram for yape:

List of all members.

Classes

struct dir_table

Public Member Functions

yape (int width, int height)

Constructor for detection in width x height images.

virtual ~yape ()

void set_radius (int radius)

int get_radius (void)

void set_tau (int tau)

int get_tau (void)

void activate_bins (void)

void disactivate_bins (void)

void set_use_bins (bool p_use_bins)

bool get_use_bins (void)

void set_bins_number (int nb_u, int nb_v)

void activate_subpixel (void)

Subpixel. Can be activated or disactived (default) for monoscale detection. Always activated for multi-scale detection.

void disactivate_subpixel (void)

void set_use_subpixel (bool p_use_subpixel)

void set_minimal_neighbor_number (int p_minimal_neighbor_number)

int get_minimal_neighbor_number (void)

int detect (IplImage *image, keypoint *points, int max_point_number, IplImage *smoothed_image=0)

void raw_detect (IplImage *im)

detect interest points and add them to tmp_points.

int pick_best_points (keypoint *points, unsigned int max_point_number)

sort and select the max_point_number best features.

IplImage * get_scores_image (void)

Return scores and filtered images, for debugging purposes.

IplImage * get_filtered_image (void)

void subpix_refine (IplImage *im, keypoint *p)

Static Public Member Functions

static int static_detect (IplImage *image, keypoint *points, int max_point_number, int radius=7, int tau=10)

Static function for point detection. Slower but avoids an instantiation.

Protected Types

typedef std::vector< keypoint > keypoint_vector

Protected Member Functions

void reserve_tmp_arrays (void)

int get_local_maxima (IplImage *image, int R, float scale)

Find local maximas in score image and append them to tmp_points.

void perform_one_point (const unsigned char *I, const int x, short *Scores, const int Im, const int Ip, const short *dirs, const unsigned char opposite, const unsigned char dirs_nb)

bool double_check (IplImage *image, int x, int y, short *dirs, unsigned char dirs_nb)

bool third_check (const short *Sb, const int next_line)

void precompute_directions (IplImage *image, short *_Dirs, int *_Dirs_nb, int R)

void init_for_monoscale (void)

Protected Attributes

int minimal_neighbor_number

int width

int height

int radius

int tau

dir_table * Dirs

int * Dirs_nb

keypoint_vector tmp_points

bool use_bins

keypoint_vector bins [10][10]

int bin_nb_u

int bin_nb_v

bool use_subpixel

IplImage * scores

IplImage * filtered_image

int stats_state [100]

int stats_iter [100]

int score

int a

int b

int A

int B0

int B1

int B2

int state

CvMat * H

CvMat * mg

CvMat * shift

Detailed Description

YAPE feature point detector.

Author:: Vincent Lepetit

Stands for Yet Another Point Extractor.

Usage:

You need OpenCV to use this code. Two different uses of the Yape class are possible:

1) The simplest way is to call the static function static_detect:

int N = yape::static_detect(image, points, maxNumberOfPoints[, radius]);

where:

image is a pointer on a IplImage structure from OpenCv. The type of the image should be IPL_DEPTH_8U, with one channel; The lowest its value is, the finest are the detected points;
points is a array of keypoint s. It should be large enough to store all the detected points;
maxNumberOfPoints is the desired maximum number of detected points.
radius is a parameter for the point detection. Its value should be between 3 and 7, its default value is 7.

The function returns the actual number of detected points.

2) Detection in a large number of images of same size:

If the detection should be performed on a large number of images of same size, you should first create an instance of the detector. The yape constructor performs some pre-computation and pre- memory allocation to save some computation time during the actual detection.

// Create an instance of Yape for detection in 640x480 images:
yape * pe = new yape(640, 480);

// The default value for the radius is 7. Use set_radius() to change it:
pe->set_radius(3);

// Call the function detect() exactly like the static_detect() function:
N[0] = pe->detect(images[0], points[0], 100);
N[1] = pe->detect(images[1], points[1], 100);
N[2] = pe->detect(images[2], points[2], 100);
N[3] = pe->detect(images[3], points[3], 100);
...

// Call the destructor:
delete pe;

Definition at line 86 of file yape.h.

Member Typedef Documentation

typedef std::vector<keypoint> yape::keypoint_vector [protected]

Definition at line 163 of file yape.h.

Constructor & Destructor Documentation

yape::yape	(	int	width,
		int	height
	)

Constructor for detection in width x height images.

Definition at line 46 of file yape.cpp.

References activate_bins(), disactivate_subpixel(), height, init_for_monoscale(), minimal_neighbor_number, radius, set_bins_number(), set_minimal_neighbor_number(), tau, and width.

Referenced by static_detect().

yape::~yape ( ) [virtual]

Definition at line 66 of file yape.cpp.

References Dirs, Dirs_nb, filtered_image, and scores.

Member Function Documentation

void yape::activate_bins ( void ) [inline]

Definition at line 99 of file yape.h.

References set_use_bins().

Referenced by yape().

void yape::activate_subpixel ( void ) [inline]

Subpixel. Can be activated or disactived (default) for monoscale detection. Always activated for multi-scale detection.

Definition at line 106 of file yape.h.

References set_use_subpixel().

int yape::detect	(	IplImage *	image,
		keypoint *	points,
		int	max_point_number,
		IplImage *	smoothed_image = `0`
	)

Definition at line 463 of file yape.cpp.

References filtered_image, get_local_maxima(), pick_best_points(), radius, raw_detect(), reserve_tmp_arrays(), subpix_refine(), and use_subpixel.

Referenced by static_detect().

void yape::disactivate_bins ( void ) [inline]

Definition at line 100 of file yape.h.

References set_use_bins().

void yape::disactivate_subpixel ( void ) [inline]

Definition at line 107 of file yape.h.

References set_use_subpixel().

Referenced by yape().

bool yape::double_check	(	IplImage *	image,
		int	x,
		int	y,
		short *	dirs,
		unsigned char	dirs_nb
	)			`[protected]`

Definition at line 181 of file yape.cpp.

References A, and tau.

IplImage* yape::get_filtered_image ( void ) [inline]

Definition at line 126 of file yape.h.

References filtered_image.

int yape::get_local_maxima	(	IplImage *	image,
		int	R,
		float	scale
	)			`[protected]`

Find local maximas in score image and append them to tmp_points.

Returns:: the number of local maxima found.

Definition at line 674 of file yape.cpp.

References bin_nb_u, bin_nb_v, bins, is_local_maxima(), keypoint::scale, keypoint::score, scores, third_check(), tmp_points, keypoint::u, use_bins, keypoint::v, and yape_bin_size.

Referenced by pyr_yape::detect(), and detect().

int yape::get_minimal_neighbor_number ( void ) [inline]

Definition at line 111 of file yape.h.

References minimal_neighbor_number.

int yape::get_radius ( void ) [inline]

Definition at line 94 of file yape.h.

IplImage* yape::get_scores_image ( void ) [inline]

Return scores and filtered images, for debugging purposes.

Definition at line 125 of file yape.h.

References scores.

int yape::get_tau ( void ) [inline]

Definition at line 97 of file yape.h.

References tau.

bool yape::get_use_bins ( void ) [inline]

Definition at line 102 of file yape.h.

References use_bins.

void yape::init_for_monoscale ( void ) [protected]

Definition at line 97 of file yape.cpp.

References Dirs, Dirs_nb, filtered_image, height, precompute_directions(), scores, yape::dir_table::t, width, and yape_max_radius.

Referenced by yape().

void yape::perform_one_point	(	const unsigned char *	I,
		const int	x,
		short *	Scores,
		const int	Im,
		const int	Ip,
		const short *	dirs,
		const unsigned char	opposite,
		const unsigned char	dirs_nb
	)			`[protected]`

Definition at line 238 of file yape.cpp.

References A, a, A_INF, A_NOT_INF, A_NOT_SUP, A_SUP, b, B0, B0_INF, B0_NOT_INF, B0_NOT_SUP, B0_SUP, B1, B1_EQUAL_B2_NOT_INF, B1_EQUAL_B2_NOT_SUP, B1_INF, B1_INF_B2_INF, B1_INF_B2_NOT_SUP, B1_INF_B2_SUP, B1_NOT_INF, B1_NOT_INF_B2_NOT_INF, B1_NOT_SUP, B1_NOT_SUP_B2_NOT_SUP, B1_SUP, B1_SUP_B2_INF, B1_SUP_B2_NOT_INF, B1_SUP_B2_SUP, B2, B2_INF, B2_NOT_INF, B2_NOT_SUP, B2_SUP, GET_A, GET_B0, GET_B1, GET_B2, GOTO_END_NOT_AN_INTEREST_POINT, GOTO_STATE, PUT_B2_IN_B1_AND_GET_B2, score, and state.

Referenced by raw_detect().

int yape::pick_best_points	(	keypoint *	points,
		unsigned int	max_point_number
	)

sort and select the max_point_number best features.

This method sorts tmp_points and select the max_point_number best points, as long as the score is high enough.

Definition at line 503 of file yape.cpp.

References bin_nb_u, bin_nb_v, bins, mymin(), N, tmp_points, and use_bins.

Referenced by pyr_yape::detect(), and detect().

void yape::precompute_directions	(	IplImage *	image,
		short *	_Dirs,
		int *	_Dirs_nb,
		int	R
	)			`[protected]`

Definition at line 127 of file yape.cpp.

Referenced by init_for_monoscale(), and pyr_yape::pyr_yape().

void yape::raw_detect ( IplImage * im )

detect interest points and add them to tmp_points.

Detect interest points, without filtering and without selecting best ones.

Just find them and add them to tmp_points. tmp_points is not cleared in this method.

Definition at line 558 of file yape.cpp.

References Dirs, Dirs_nb, perform_one_point(), radius, scores, yape::dir_table::t, and tau.

Referenced by pyr_yape::detect(), and detect().

void yape::reserve_tmp_arrays ( void ) [protected]

Definition at line 111 of file yape.cpp.

References bin_nb_u, bin_nb_v, bins, tmp_points, use_bins, yape_bin_size, and yape_tmp_points_array_size.

Referenced by pyr_yape::detect(), and detect().

void yape::set_bins_number	(	int	nb_u,
		int	nb_v
	)			`[inline]`

Definition at line 103 of file yape.h.

References bin_nb_u, and bin_nb_v.

Referenced by yape().

void yape::set_minimal_neighbor_number ( int p_minimal_neighbor_number ) [inline]

Definition at line 110 of file yape.h.

References minimal_neighbor_number.

Referenced by yape().

void yape::set_radius ( int radius )

Definition at line 87 of file yape.cpp.

References radius.

Referenced by kpt_tracker::kpt_tracker(), and static_detect().

void yape::set_tau ( int tau )

Definition at line 92 of file yape.cpp.

References tau.

Referenced by static_detect().

void yape::set_use_bins ( bool p_use_bins ) [inline]

Definition at line 101 of file yape.h.

References use_bins.

Referenced by activate_bins(), and disactivate_bins().

void yape::set_use_subpixel ( bool p_use_subpixel ) [inline]

Definition at line 108 of file yape.h.

References use_subpixel.

Referenced by activate_subpixel(), and disactivate_subpixel().

int yape::static_detect	(	IplImage *	image,
		keypoint *	points,
		int	max_point_number,
		int	radius = `7`,
		int	tau = `10`
	)			`[static]`

Static function for point detection. Slower but avoids an instantiation.

Definition at line 74 of file yape.cpp.

References detect(), set_radius(), set_tau(), and yape().

void yape::subpix_refine	(	IplImage *	im,
		keypoint *	p
	)

Definition at line 761 of file yape.cpp.

References Dirs, Dirs_nb, fit_quadratic_2x2(), radius, keypoint::score, score, scores, yape::dir_table::t, keypoint::u, and keypoint::v.

Referenced by pyr_yape::detect(), and detect().

bool yape::third_check	(	const short *	Sb,
		const int	next_line
	)			`[inline, protected]`

Definition at line 607 of file yape.cpp.

References E, minimal_neighbor_number, N, S, and W.

Referenced by get_local_maxima().

Member Data Documentation

int yape::A [protected]

Definition at line 183 of file yape.h.

Referenced by double_check(), and perform_one_point().

int yape::a [protected]

Definition at line 182 of file yape.h.

Referenced by perform_one_point().

int yape::b [protected]

Definition at line 182 of file yape.h.

Referenced by perform_one_point().

int yape::B0 [protected]

Definition at line 183 of file yape.h.

Referenced by perform_one_point().

int yape::B1 [protected]

Definition at line 183 of file yape.h.

Referenced by perform_one_point().

int yape::B2 [protected]

Definition at line 183 of file yape.h.

Referenced by perform_one_point().

int yape::bin_nb_u [protected]

Definition at line 169 of file yape.h.

Referenced by get_local_maxima(), pick_best_points(), reserve_tmp_arrays(), and set_bins_number().

int yape::bin_nb_v [protected]

Definition at line 169 of file yape.h.

Referenced by get_local_maxima(), pick_best_points(), reserve_tmp_arrays(), and set_bins_number().

keypoint_vector yape::bins[10][10] [protected]

Definition at line 168 of file yape.h.

Referenced by get_local_maxima(), pick_best_points(), and reserve_tmp_arrays().

dir_table* yape::Dirs [protected]

Definition at line 159 of file yape.h.

Referenced by init_for_monoscale(), pyr_yape::pyr_yape(), raw_detect(), pyr_yape::select_level(), subpix_refine(), pyr_yape::~pyr_yape(), and ~yape().

int* yape::Dirs_nb [protected]

Definition at line 160 of file yape.h.

Referenced by init_for_monoscale(), pyr_yape::pyr_yape(), raw_detect(), pyr_yape::select_level(), subpix_refine(), pyr_yape::~pyr_yape(), and ~yape().

IplImage * yape::filtered_image [protected]

Definition at line 175 of file yape.h.

Referenced by detect(), get_filtered_image(), init_for_monoscale(), and ~yape().

CvMat* yape::H [protected]

Definition at line 186 of file yape.h.

int yape::height [protected]

Definition at line 147 of file yape.h.

Referenced by init_for_monoscale(), and yape().

CvMat* yape::mg [protected]

Definition at line 187 of file yape.h.

int yape::minimal_neighbor_number [protected]

Definition at line 141 of file yape.h.

Referenced by get_minimal_neighbor_number(), set_minimal_neighbor_number(), third_check(), and yape().

int yape::radius [protected]

Definition at line 150 of file yape.h.

Referenced by pyr_yape::detect(), detect(), pyr_yape::pyramidBlurDetect(), raw_detect(), set_radius(), subpix_refine(), and yape().

int yape::score [protected]

Definition at line 181 of file yape.h.

Referenced by perform_one_point(), and subpix_refine().

IplImage* yape::scores [protected]

Definition at line 175 of file yape.h.

Referenced by get_local_maxima(), get_scores_image(), init_for_monoscale(), pyr_yape::pyr_yape(), raw_detect(), pyr_yape::select_level(), subpix_refine(), pyr_yape::~pyr_yape(), and ~yape().

CvMat* yape::shift [protected]

Definition at line 188 of file yape.h.

int yape::state [protected]

Definition at line 184 of file yape.h.

Referenced by perform_one_point().

int yape::stats_iter[100] [protected]

Definition at line 178 of file yape.h.

int yape::stats_state[100] [protected]

Definition at line 178 of file yape.h.

int yape::tau [protected]

Definition at line 153 of file yape.h.

Referenced by double_check(), get_tau(), raw_detect(), set_tau(), and yape().

keypoint_vector yape::tmp_points [protected]

Definition at line 164 of file yape.h.

Referenced by get_local_maxima(), pick_best_points(), and reserve_tmp_arrays().

bool yape::use_bins [protected]

Definition at line 167 of file yape.h.

Referenced by get_local_maxima(), get_use_bins(), pick_best_points(), reserve_tmp_arrays(), and set_use_bins().

bool yape::use_subpixel [protected]

Definition at line 172 of file yape.h.

Referenced by detect(), and set_use_subpixel().

int yape::width [protected]

Definition at line 147 of file yape.h.

Referenced by init_for_monoscale(), and yape().

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

polyora/yape.h
polyora/yape.cpp


Classes
struct	dir_table
Public Member Functions
	yape (int width, int height)
	Constructor for detection in `width` x `height` images.
virtual	~yape ()
void	set_radius (int radius)
int	get_radius (void)
void	set_tau (int tau)
int	get_tau (void)
void	activate_bins (void)
void	disactivate_bins (void)
void	set_use_bins (bool p_use_bins)
bool	get_use_bins (void)
void	set_bins_number (int nb_u, int nb_v)
void	activate_subpixel (void)
	Subpixel. Can be activated or disactived (default) for monoscale detection. Always activated for multi-scale detection.
void	disactivate_subpixel (void)
void	set_use_subpixel (bool p_use_subpixel)
void	set_minimal_neighbor_number (int p_minimal_neighbor_number)
int	get_minimal_neighbor_number (void)
int	detect (IplImage image, keypoint points, int max_point_number, IplImage *smoothed_image=0)
void	raw_detect (IplImage *im)
	detect interest points and add them to tmp_points.
int	pick_best_points (keypoint *points, unsigned int max_point_number)
	sort and select the max_point_number best features.
IplImage *	get_scores_image (void)
	Return scores and filtered images, for debugging purposes.
IplImage *	get_filtered_image (void)
void	subpix_refine (IplImage im, keypoint p)
Static Public Member Functions
static int	static_detect (IplImage image, keypoint points, int max_point_number, int radius=7, int tau=10)
	Static function for point detection. Slower but avoids an instantiation.
Protected Types
typedef std::vector< keypoint >	keypoint_vector
Protected Member Functions
void	reserve_tmp_arrays (void)
int	get_local_maxima (IplImage *image, int R, float scale)
	Find local maximas in score image and append them to tmp_points.
void	perform_one_point (const unsigned char I, const int x, short Scores, const int Im, const int Ip, const short *dirs, const unsigned char opposite, const unsigned char dirs_nb)
bool	double_check (IplImage image, int x, int y, short dirs, unsigned char dirs_nb)
bool	third_check (const short *Sb, const int next_line)
void	precompute_directions (IplImage image, short _Dirs, int *_Dirs_nb, int R)
void	init_for_monoscale (void)
Protected Attributes
int	minimal_neighbor_number
int	width
int	height
int	radius
int	tau
dir_table *	Dirs
int *	Dirs_nb
keypoint_vector	tmp_points
bool	use_bins
keypoint_vector	bins [10][10]
int	bin_nb_u
int	bin_nb_v
bool	use_subpixel
IplImage *	scores
IplImage *	filtered_image
int	stats_state [100]
int	stats_iter [100]
int	score
int	a
int	b
int	A
int	B0
int	B1
int	B2
int	state
CvMat *	H
CvMat *	mg
CvMat *	shift