keypoint.h

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#ifndef __KEYPOINT_H
#define __KEYPOINT_H

#include <vector>
#include <fstream>

#define KEYPOINTDIM 128
#define MAXIMAGEDIM 320

class keygroup;

class keypoint {
private:
  int id;
  
public:
  //    bool valid;
  keygroup* G;
  double modelX, modelY, modelScale, modelOrientation;
  double imageX, imageY, imageScale, imageOrientation;
  int imageIntScale, imageIntOctave;
  std::vector<double> desc;
  
  int generation;
  
  std::vector<double>    bestDist;
  std::vector<keypoint*> bestMatch;
  
  keypoint* finalMatch;
  std::vector<keypoint*> matches;
  
  std::vector<keypoint*> modelMatches;
  std::vector<double>    modelMatchErrors;
  
  bool isInlier;
  
  keypoint(int ID=getNewKeypointID());
  
  static int getNewKeypointID() { return keypointID++; }
  
  double sqDist(keypoint& key);
  
  void print();
  
  void writeToFile(std::ofstream& outfile, bool indicateDim);
  void writeToFile(std::ofstream& outfile);
  
  int getID() const { return id; }
  
  static int getKeypointID() { return keypointID; }
  static void setKeypointID(int kid) { keypointID = kid; }
  
private:
  static int keypointID;
  keypoint(const keypoint&); // Do not use
  keypoint& operator=(const keypoint&); // Do not use
};

#endif