KeypointTracker.H

Go to the documentation of this file.
00001 /*!@file Beobot/KeypointTracker.H a list of keypoints */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/KeypointTracker.H $
00035 // $Id: KeypointTracker.H 9412 2008-03-10 23:10:15Z farhan $
00036 //
00037 
00038 #ifndef KEYPOINTTRACKER_DEFINED
00039 #define KEYPOINTTRACKER_DEFINED
00040 
00041 #include "Image/Point2D.H"
00042 #include "SIFT/Keypoint.H"
00043 #include <vector>
00044 
00045 //! Landmark class to take into account temporal info
00046 class KeypointTracker
00047 {
00048 public:
00049 
00050   //! Constructor
00051   KeypointTracker(const std::string& name = "");
00052 
00053   //! Destructor
00054   ~KeypointTracker();
00055 
00056   //! add a keypoint to the list
00057   void add(rutz::shared_ptr<Keypoint> kp, Point2D<int> offset, uint fNum);
00058 
00059   //! print the current list
00060   void print();
00061 
00062   //! get the last keypoints
00063   const rutz::shared_ptr<Keypoint>& getLastKeypoint() const;
00064 
00065   //! do we have a keypoint from frame index
00066   const bool hasKeypointInFrame(uint index) const;
00067 
00068   //! get the keypoint from frame index
00069   const rutz::shared_ptr<Keypoint>& getKeypointInFrame(uint index) const;
00070 
00071   //! check to see if the tracker has been inactive since
00072   //! frame fNum
00073   bool isInactiveSince(uint fNum);
00074 
00075   //! get the top left corner location + the KP location
00076   Point2D<int> getAbsLoc();
00077 
00078   // ######################################################################
00079   /*! @name Iterators and access functions
00080   The iterators iterate on our feature vector data only, while the
00081    other access functions can be used to access the other data. */
00082   //@{
00083 
00084   //! name getter
00085   inline const std::string& getName() const;
00086 
00087   //! get all SIFT keypoints
00088   inline const std::vector< rutz::shared_ptr<Keypoint> >& getKeypoints() const;
00089 
00090   //! get number of SIFT keypoints
00091   inline uint numKeypoints() const;
00092 
00093   //! standard iterator
00094   typedef std::vector<rutz::shared_ptr<Keypoint> >::iterator iterator;
00095 
00096   //! const iterator
00097   typedef std::vector<rutz::shared_ptr<Keypoint> >::const_iterator const_iterator;
00098 
00099   //! Returns a read-only iterator to the beginning of the keypoint list
00100   inline const_iterator begin() const;
00101 
00102   //! Returns a read-only iterator to one-past-the-end of the keypoint list
00103   inline const_iterator end() const;
00104 
00105    //! Returns a read-write iterator to the beginning of the keypoint list
00106   inline iterator beginw();
00107 
00108    //! Returns a read-write iterator to one-past-the-end of the keypoint list
00109   inline iterator endw();
00110 
00111 private:
00112   std::string itsName;                             // name of this keypoint tracker
00113   std::vector<rutz::shared_ptr<Keypoint> > itsKeypoints;
00114   std::vector<Point2D<int> > itsOffsets;
00115   std::vector<uint> itsFrameNums;
00116 };
00117 
00118 // ######################################################################
00119 // Inlined member functions
00120 // ######################################################################
00121 inline const std::string& KeypointTracker::getName() const
00122 { return itsName; }
00123 
00124 inline const std::vector< rutz::shared_ptr<Keypoint> >&
00125 KeypointTracker::getKeypoints() const
00126 { return itsKeypoints; }
00127 
00128 inline uint KeypointTracker::numKeypoints() const
00129 { return itsKeypoints.size(); }
00130 
00131 inline KeypointTracker::const_iterator KeypointTracker::begin() const
00132 { return itsKeypoints.begin(); }
00133 
00134 inline KeypointTracker::const_iterator KeypointTracker::end() const
00135 { return itsKeypoints.end(); }
00136 
00137 inline KeypointTracker::iterator KeypointTracker::beginw()
00138 { return itsKeypoints.begin(); }
00139 
00140 inline KeypointTracker::iterator KeypointTracker::endw()
00141 { return itsKeypoints.end(); }
00142 
00143 #endif
00144 
00145 // ######################################################################
00146 /* So things look consistent in everyone's emacs... */
00147 /* Local Variables: */
00148 /* indent-tabs-mode: nil */
00149 /* End: */
Generated on Sun May 8 08:40:12 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3