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multiDesc_utils.h File Reference
#include <mrpt/vision/CFeature.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/math/utils.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/maps/CLandmarksMap.h>
#include <mrpt/obs/CObservationVisualLandmarks.h>
#include <mrpt/vision/types.h>
#include <mrpt/vision/chessboard_camera_calib.h>
#include <mrpt/vision/link_pragmas.h>
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Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::vision
 Classes for computer vision, detectors, features, etc.
 

Typedefs

typedef std::map< int, std::map< int, std::map< int, std::deque< std::pair< TFeatureID, double > > > > > mrpt::vision::TQuantizationTable
 

Functions

void VISION_IMPEXP mrpt::vision::saveQTableToFile (const TQuantizationTable &qTable, const std::string &filename)
 
void VISION_IMPEXP mrpt::vision::insertHashCoeffs (const CFeaturePtr &feat, TQuantizationTable &qTable)
 
TMultiResMatchingOutput VISION_IMPEXP mrpt::vision::relocalizeMultiDesc (const mrpt::utils::CImage &image, CFeatureList &baseList, CFeatureList &currentList, TQuantizationTable &qTable, const TMultiResDescOptions &desc_opts, const TMultiResDescMatchOptions &match_opts)
 
void VISION_IMPEXP mrpt::vision::updateBaseList (CFeatureList &baseList, const CFeatureList &currentList, const std::vector< int > &idx)
 
void VISION_IMPEXP mrpt::vision::checkScalesAndFindMore (CMatchedFeatureList &baseList, const CFeatureList &currentList, const mrpt::utils::CImage &currentImage, const TMultiResMatchingOutput &output, const TMultiResDescOptions &computeOpts, const TMultiResDescMatchOptions &matchOpts)
 
bool VISION_IMPEXP mrpt::vision::computeGradient (const mrpt::utils::CImage &image, const unsigned int x, const unsigned int y, double &mag, double &ori)
 Computes the gradient of certain pixel within the image. More...
 
bool VISION_IMPEXP mrpt::vision::computeMainOrientations (const mrpt::utils::CImage &image, const unsigned int x, const unsigned int y, const unsigned int patchSize, std::vector< double > &orientations, const double &sigma)
 Computes the main orientations (within 80% of the peak value of orientation histogram) of a certain point within an image (for using in SIFT-based algorithms) More...
 
void VISION_IMPEXP mrpt::vision::interpolateHistEntry (std::vector< double > &hist, const double &cbin, const double &rbin, const double &obin, const double &mag, const int d, const int n)
 Inserts the orientation value of a certain pixel within the keypoint neighbourhood into the histogram of orientations. More...
 
void VISION_IMPEXP mrpt::vision::computeHistogramOfOrientations (const mrpt::utils::CImage &image, const unsigned int x, const unsigned int y, const unsigned int patchSize, const double &orientation, std::vector< int32_t > &descriptor, const TMultiResDescOptions &opts, std::vector< int32_t > &hashCoeffs)
 Computes the SIFT-like descriptor of a certain point within an image at the base scale, i.e. More...
 
TMultiResMatchingOutput VISION_IMPEXP mrpt::vision::matchMultiResolutionFeatures (const CFeatureList &list1, CFeatureList &list2, const mrpt::utils::CImage &rightImage, const TMultiResDescMatchOptions &matchOpts, const TMultiResDescOptions &computeOpts)
 Matches two CFeatureList containing mulit-resolution descriptors. More...
 
int VISION_IMPEXP mrpt::vision::matchMultiResolutionFeatures (CMatchedFeatureList &mList1, CMatchedFeatureList &mList2, const mrpt::utils::CImage &leftImage, const mrpt::utils::CImage &rightImage, const TMultiResDescMatchOptions &matchOpts, const TMultiResDescOptions &computeOpts)
 Matches two CMatchedFeatureList containing mulit-resolution descriptors. More...
 
int VISION_IMPEXP mrpt::vision::computeMoreDescriptors (const mrpt::utils::CImage &image, const CFeaturePtr &inputFeat, CFeaturePtr &outputFeat, const bool &lowerScales, const TMultiResDescOptions &opts)
 Computes more multi-resolution SIFT-like descriptors for a feature using its position in a new image. More...
 
void VISION_IMPEXP mrpt::vision::setProperScales (const CFeaturePtr &feat1, const CFeaturePtr &feat2, int &firstScale, int &lastScale)
 Computes the initial and final scales where to look when finding a match between multi-resolution features. More...
 
void VISION_IMPEXP mrpt::vision::computeMultiResolutionDescriptors (const mrpt::utils::CImage &imageLeft, const mrpt::utils::CImage &imageRight, CMatchedFeatureList &matchedFeats, const TMultiResDescOptions &opts)
 Computes the multi-resolution SIFT-like descriptor of a set of matched features. More...
 
bool VISION_IMPEXP mrpt::vision::computeMultiResolutionDescriptors (const mrpt::utils::CImage &image, CFeaturePtr &feat, const TMultiResDescOptions &opts)
 Computes the multi-resolution SIFT-like descriptor of a features. More...
 
std::vector< bool > VISION_IMPEXP mrpt::vision::computeMultiResolutionDescriptors (const mrpt::utils::CImage &image, CFeatureList &list, const TMultiResDescOptions &opts)
 Computes the multi-resolution SIFT-like descriptor of a list of features. More...
 
void VISION_IMPEXP mrpt::vision::computeMultiOrientations (const mrpt::utils::CImage &image, CFeatureList &list, const TMultiResDescOptions &opts)
 Computes the multi-resolution SIFT-like descriptor of a list of features. More...
 



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