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Object for storing SIFT interest points


The SIFTPoints object enables you to pass data between the detectSIFTFeatures and extractFeatures functions. You can also use it to manipulate and plot the data returned by these functions. You can use the object to fill interest points interactively.




points = SIFTPoints(location) constructs a SIFTPoints object from an M-by-2 matrix of [x y] point coordinates in location.

points = SIFTPoints(location,Name=Value) sets properties using one or more name-value arguments. For example, SIFTPoints(Metric=0.0)

Input Arguments

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Point coordinates, specified as an M-by-2 matrix of [x y] point coordinates. M is the number of points.


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Scale at which the interest points are detected, specified as a value greater than 0.

Strength of the detected feature, specified as a value in the range [0 1]. The SIFT algorithm uses the contrast threshold to determine strong features.

Orientation of the detected feature, specified as an angle, in radians. The angle is measured counterclockwise from the X-axis with the origin specified by the location input. Do not set this property manually. Instead, use the call to extractFeatures to fill in this value. The extractFeatures function modifies the default value of 0.0.The Orientation is mainly useful for visualization purposes.

Index of the Gaussian pyramid octave layer that the keypoint is extracted from, specified as an integer. An octave is a collection of difference-of-Gaussian pyramid layers, and is used for scale-space.

Layer within the octave from which the keypoint was extracted, specified as an integer.

Object Functions

plotPlot points
isemptyDetermine if points object is empty
lengthNumber of stored points
selectStrongestSelect points with strongest metrics
sizeReturn size of points object
selectUniformSelect uniformly distributed subset of feature points


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Read an image.

I = imread("cameraman.tif");

Detect SIFT features in the image.

points = detectSIFTFeatures(I)
points = 
  274x1 SIFTPoints array with properties:

          Scale: [274x1 single]
    Orientation: [274x1 single]
         Octave: [274x1 int32]
          Layer: [274x1 int32]
       Location: [274x2 single]
         Metric: [274x1 single]
          Count: 274

Display the location and scale of the 10 strongest points in the image.

strongest = points.selectStrongest(10);
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Figure contains an axes object. The axes object contains 3 objects of type image, line.

Display the [x y] coordinates for the selected points.

ans = 10x2 single matrix

  183.2607  205.7324
  112.7613  206.8682
  140.7289   96.1705
  135.5473  125.4136
  101.5411  174.0036
  111.1929  156.2148
  167.3374   77.7732
  131.6280  114.0382
  114.2321   48.5672
  135.2517   92.6351

Read an image into the workspace.

I = imread("cameraman.tif");

Detect SIFT features in the image.

points = detectSIFTFeatures(I);

Display the last 5 detected points.

hold on

Figure contains an axes object. The axes object contains 3 objects of type image, line.


  • Although SIFTPoints may hold many points, it is a scalar object. Therefore, numel(SIFTPoints) always returns 1. This value may differ from length(SIFTPoints), which returns the true number of points held by the object.

  • Properties can be specified as a scalar or a vector whose length matches the number of coordinates in location.


[1] Lowe, David G.. "Distinctive Image Features from Scale-Invariant Keypoints." Int. J. Comput. Vision 60 , no. 2 (2004): 91--110.

Extended Capabilities

Version History

Introduced in R2021b