00001 #ifndef rgrl_feature_point_h_ 00002 #define rgrl_feature_point_h_ 00003 //: 00004 // \file 00005 // \author Amitha Perera 00006 // \date Feb 2003 00007 // \verbatim 00008 // Modifications 00009 // Nov 2008 J Becker: Added a clone function. 00010 // \endverbatim 00011 00012 #include "rgrl_feature.h" 00013 #include <vcl_iosfwd.h> 00014 00015 //: Represent a point in space. 00016 // 00017 // This type of feature can be used to represent simple point-to-point 00018 // correspondences. 00019 // 00020 class rgrl_feature_point 00021 : public rgrl_feature 00022 { 00023 public: 00024 00025 //:ctor 00026 rgrl_feature_point( vnl_vector<double> const& loc ); 00027 00028 //:ctor 00029 rgrl_feature_point( vnl_vector<double> const& loc, double scale ); 00030 00031 //: read in feature 00032 virtual 00033 bool read( vcl_istream& is, bool skip_tag=false ); 00034 00035 //: write out feature 00036 virtual 00037 void write( vcl_ostream& os ) const; 00038 00039 vnl_matrix<double> const& 00040 error_projector() const; 00041 00042 vnl_matrix<double> const& 00043 error_projector_sqrt() const; 00044 00045 //: Result is a rgrl_feature_point. 00046 virtual 00047 rgrl_feature_sptr 00048 transform( rgrl_transformation const& xform ) const; 00049 00050 unsigned int 00051 num_constraints() const; 00052 00053 //: Compute the signature weight between two features. 00054 virtual double absolute_signature_weight( rgrl_feature_sptr other ) const; 00055 00056 // Defines type-related functions 00057 rgrl_type_macro( rgrl_feature_point, rgrl_feature ); 00058 00059 //: make a clone copy 00060 virtual rgrl_feature_sptr clone() const; 00061 00062 protected: 00063 friend class rgrl_feature_reader; 00064 //: 00065 // Create an uninitialized feature with enough space to store a dim 00066 // dimensional feature. 00067 // 00068 rgrl_feature_point( unsigned dim=0 ); 00069 00070 // to be able to use the protected constructor 00071 friend rgrl_feature_sptr 00072 rgrl_feature_reader( vcl_istream& is ); 00073 00074 //: Apply transformation to the scale property 00075 virtual double 00076 transform_scale( rgrl_transformation const& xform ) const; 00077 00078 protected: 00079 mutable vnl_matrix<double> err_proj_, err_proj_sqrt_; 00080 }; 00081 00082 #endif // rgrl_feature_point_h_
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