MRPT  2.0.1
Classes | Functions
mrpt::vision::detail Namespace Reference

Classes

struct  TSIFTDesc2KDTree_Adaptor
 
struct  TSURFDesc2KDTree_Adaptor
 

Functions

template<typename FEATLIST >
void trackFeatures_checkResponses (FEATLIST &featureList, const CImage &cur_gray, const float minimum_KLT_response, const unsigned int KLT_response_half_win, const unsigned int max_x, const unsigned int max_y)
 
template<>
void trackFeatures_checkResponses< CFeatureList > (CFeatureList &featureList, const CImage &cur_gray, const float minimum_KLT_response, const unsigned int KLT_response_half_win, const unsigned int max_x, const unsigned int max_y)
 
template<class FEAT_LIST >
void trackFeatures_checkResponses_impl_simple (FEAT_LIST &featureList, const CImage &cur_gray, const float minimum_KLT_response, const unsigned int KLT_response_half_win, const unsigned int max_x_, const unsigned int max_y_)
 
template<>
void trackFeatures_checkResponses< TKeyPointList > (TKeyPointList &featureList, const CImage &cur_gray, const float minimum_KLT_response, const unsigned int KLT_response_half_win, const unsigned int max_x, const unsigned int max_y)
 
template<>
void trackFeatures_checkResponses< TKeyPointfList > (TKeyPointfList &featureList, const CImage &cur_gray, const float minimum_KLT_response, const unsigned int KLT_response_half_win, const unsigned int max_x, const unsigned int max_y)
 
template<typename FEATLIST >
void trackFeatures_updatePatch (FEATLIST &featureList, const CImage &cur_gray)
 
template<>
void trackFeatures_updatePatch< CFeatureList > (CFeatureList &featureList, const CImage &cur_gray)
 
template<>
void trackFeatures_updatePatch< TKeyPointList > ([[maybe_unused]] TKeyPointList &featureList, [[maybe_unused]] const CImage &cur_gray)
 
template<>
void trackFeatures_updatePatch< TKeyPointfList > ([[maybe_unused]] TKeyPointfList &featureList, [[maybe_unused]] const CImage &cur_gray)
 
template<typename FEATLIST >
void trackFeatures_addNewFeats (FEATLIST &featureList, const TKeyPointList &new_feats, const std::vector< size_t > &sorted_indices, const size_t nNewToCheck, const size_t maxNumFeatures, const float minimum_KLT_response_to_add, const double threshold_sqr_dist_to_add_new, const size_t patchSize, const CImage &cur_gray, TFeatureID &max_feat_ID_at_input)
 
template<>
void trackFeatures_addNewFeats< CFeatureList > (CFeatureList &featureList, const TKeyPointList &new_feats, const std::vector< size_t > &sorted_indices, const size_t nNewToCheck, const size_t maxNumFeatures, const float minimum_KLT_response_to_add, const double threshold_sqr_dist_to_add_new, const size_t patchSize, const CImage &cur_gray, TFeatureID &max_feat_ID_at_input)
 
template<class FEAT_LIST >
void trackFeatures_addNewFeats_simple_list (FEAT_LIST &featureList, const TKeyPointList &new_feats, const std::vector< size_t > &sorted_indices, const size_t nNewToCheck, const size_t maxNumFeatures, const float minimum_KLT_response_to_add, const double threshold_sqr_dist_to_add_new, [[maybe_unused]] const size_t patchSize, [[maybe_unused]] const CImage &cur_gray, TFeatureID &max_feat_ID_at_input)
 
template<>
void trackFeatures_addNewFeats< TKeyPointList > (TKeyPointList &featureList, const TKeyPointList &new_feats, const std::vector< size_t > &sorted_indices, const size_t nNewToCheck, const size_t maxNumFeatures, const float minimum_KLT_response_to_add, const double threshold_sqr_dist_to_add_new, const size_t patchSize, const CImage &cur_gray, TFeatureID &max_feat_ID_at_input)
 
template<>
void trackFeatures_addNewFeats< TKeyPointfList > (TKeyPointfList &featureList, const TKeyPointList &new_feats, const std::vector< size_t > &sorted_indices, const size_t nNewToCheck, const size_t maxNumFeatures, const float minimum_KLT_response_to_add, const double threshold_sqr_dist_to_add_new, const size_t patchSize, const CImage &cur_gray, TFeatureID &max_feat_ID_at_input)
 
template<typename FEATLIST >
size_t trackFeatures_deleteOOB (FEATLIST &trackedFeats, const size_t img_width, const size_t img_height, const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
 
template<typename FEATLIST >
size_t trackFeatures_deleteOOB_impl_simple_feat (FEATLIST &trackedFeats, const size_t img_width, const size_t img_height, const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
 
template<>
size_t trackFeatures_deleteOOB (TKeyPointList &trackedFeats, const size_t img_width, const size_t img_height, const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
 
template<>
size_t trackFeatures_deleteOOB (TKeyPointfList &trackedFeats, const size_t img_width, const size_t img_height, const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
 
template<>
size_t trackFeatures_deleteOOB (CFeatureList &trackedFeats, const size_t img_width, const size_t img_height, const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
 

Function Documentation

◆ trackFeatures_addNewFeats()

template<typename FEATLIST >
void mrpt::vision::detail::trackFeatures_addNewFeats ( FEATLIST &  featureList,
const TKeyPointList &  new_feats,
const std::vector< size_t > &  sorted_indices,
const size_t  nNewToCheck,
const size_t  maxNumFeatures,
const float  minimum_KLT_response_to_add,
const double  threshold_sqr_dist_to_add_new,
const size_t  patchSize,
const CImage &  cur_gray,
TFeatureID &  max_feat_ID_at_input 
)
inline

Referenced by mrpt::vision::CGenericFeatureTracker::internal_trackFeatures().

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◆ trackFeatures_addNewFeats< CFeatureList >()

template<>
void mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList > ( CFeatureList &  featureList,
const TKeyPointList &  new_feats,
const std::vector< size_t > &  sorted_indices,
const size_t  nNewToCheck,
const size_t  maxNumFeatures,
const float  minimum_KLT_response_to_add,
const double  threshold_sqr_dist_to_add_new,
const size_t  patchSize,
const CImage &  cur_gray,
TFeatureID &  max_feat_ID_at_input 
)
inline

Definition at line 185 of file tracking.cpp.

References mrpt::vision::featFAST, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::ID, mrpt::vision::CFeature::keypoint, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::octave, mrpt::vision::CFeature::orientation, mrpt::vision::CFeature::patch, mrpt::vision::CFeature::patchSize, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::pt, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::response, mrpt::vision::CFeature::response, mrpt::round(), mrpt::square(), mrpt::vision::CFeature::type, mrpt::img::TPixelCoordf::x, mrpt::img::TPixelCoord::x, mrpt::img::TPixelCoordf::y, and mrpt::img::TPixelCoord::y.

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◆ trackFeatures_addNewFeats< TKeyPointfList >()

template<>
void mrpt::vision::detail::trackFeatures_addNewFeats< TKeyPointfList > ( TKeyPointfList &  featureList,
const TKeyPointList &  new_feats,
const std::vector< size_t > &  sorted_indices,
const size_t  nNewToCheck,
const size_t  maxNumFeatures,
const float  minimum_KLT_response_to_add,
const double  threshold_sqr_dist_to_add_new,
const size_t  patchSize,
const CImage &  cur_gray,
TFeatureID &  max_feat_ID_at_input 
)
inline

Definition at line 302 of file tracking.cpp.

◆ trackFeatures_addNewFeats< TKeyPointList >()

template<>
void mrpt::vision::detail::trackFeatures_addNewFeats< TKeyPointList > ( TKeyPointList &  featureList,
const TKeyPointList &  new_feats,
const std::vector< size_t > &  sorted_indices,
const size_t  nNewToCheck,
const size_t  maxNumFeatures,
const float  minimum_KLT_response_to_add,
const double  threshold_sqr_dist_to_add_new,
const size_t  patchSize,
const CImage &  cur_gray,
TFeatureID &  max_feat_ID_at_input 
)
inline

Definition at line 289 of file tracking.cpp.

◆ trackFeatures_addNewFeats_simple_list()

template<class FEAT_LIST >
void mrpt::vision::detail::trackFeatures_addNewFeats_simple_list ( FEAT_LIST &  featureList,
const TKeyPointList &  new_feats,
const std::vector< size_t > &  sorted_indices,
const size_t  nNewToCheck,
const size_t  maxNumFeatures,
const float  minimum_KLT_response_to_add,
const double  threshold_sqr_dist_to_add_new,
[[maybe_unused] ] const size_t  patchSize,
[[maybe_unused] ] const CImage &  cur_gray,
TFeatureID &  max_feat_ID_at_input 
)
inline

Inactive: right after detection, and before being tried to track

Definition at line 242 of file tracking.cpp.

References mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::pt, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::response, and mrpt::vision::status_IDLE.

◆ trackFeatures_checkResponses()

template<typename FEATLIST >
void mrpt::vision::detail::trackFeatures_checkResponses ( FEATLIST &  featureList,
const CImage &  cur_gray,
const float  minimum_KLT_response,
const unsigned int  KLT_response_half_win,
const unsigned int  max_x,
const unsigned int  max_y 
)
inline

Referenced by mrpt::vision::CGenericFeatureTracker::internal_trackFeatures().

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◆ trackFeatures_checkResponses< CFeatureList >()

template<>
void mrpt::vision::detail::trackFeatures_checkResponses< CFeatureList > ( CFeatureList &  featureList,
const CImage &  cur_gray,
const float  minimum_KLT_response,
const unsigned int  KLT_response_half_win,
const unsigned int  max_x,
const unsigned int  max_y 
)
inline

Definition at line 35 of file tracking.cpp.

References mrpt::vision::status_LOST, mrpt::vision::status_OOB, and mrpt::vision::status_TRACKED.

◆ trackFeatures_checkResponses< TKeyPointfList >()

template<>
void mrpt::vision::detail::trackFeatures_checkResponses< TKeyPointfList > ( TKeyPointfList &  featureList,
const CImage &  cur_gray,
const float  minimum_KLT_response,
const unsigned int  KLT_response_half_win,
const unsigned int  max_x,
const unsigned int  max_y 
)
inline

Definition at line 118 of file tracking.cpp.

◆ trackFeatures_checkResponses< TKeyPointList >()

template<>
void mrpt::vision::detail::trackFeatures_checkResponses< TKeyPointList > ( TKeyPointList &  featureList,
const CImage &  cur_gray,
const float  minimum_KLT_response,
const unsigned int  KLT_response_half_win,
const unsigned int  max_x,
const unsigned int  max_y 
)
inline

Definition at line 108 of file tracking.cpp.

◆ trackFeatures_checkResponses_impl_simple()

template<class FEAT_LIST >
void mrpt::vision::detail::trackFeatures_checkResponses_impl_simple ( FEAT_LIST &  featureList,
const CImage &  cur_gray,
const float  minimum_KLT_response,
const unsigned int  KLT_response_half_win,
const unsigned int  max_x_,
const unsigned int  max_y_ 
)
inline

Definition at line 68 of file tracking.cpp.

References mrpt::img::CImage::KLT_response(), mrpt::vision::status_LOST, mrpt::vision::status_OOB, and mrpt::vision::status_TRACKED.

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◆ trackFeatures_deleteOOB() [1/4]

template<typename FEATLIST >
size_t mrpt::vision::detail::trackFeatures_deleteOOB ( FEATLIST &  trackedFeats,
const size_t  img_width,
const size_t  img_height,
const int  MIN_DIST_MARGIN_TO_STOP_TRACKING 
)
inline

Referenced by mrpt::vision::CGenericFeatureTracker::internal_trackFeatures().

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◆ trackFeatures_deleteOOB() [2/4]

template<>
size_t mrpt::vision::detail::trackFeatures_deleteOOB ( TKeyPointList &  trackedFeats,
const size_t  img_width,
const size_t  img_height,
const int  MIN_DIST_MARGIN_TO_STOP_TRACKING 
)
inline

Definition at line 369 of file tracking.cpp.

◆ trackFeatures_deleteOOB() [3/4]

template<>
size_t mrpt::vision::detail::trackFeatures_deleteOOB ( TKeyPointfList &  trackedFeats,
const size_t  img_width,
const size_t  img_height,
const int  MIN_DIST_MARGIN_TO_STOP_TRACKING 
)
inline

Definition at line 377 of file tracking.cpp.

◆ trackFeatures_deleteOOB() [4/4]

template<>
size_t mrpt::vision::detail::trackFeatures_deleteOOB ( CFeatureList &  trackedFeats,
const size_t  img_width,
const size_t  img_height,
const int  MIN_DIST_MARGIN_TO_STOP_TRACKING 
)
inline

Definition at line 386 of file tracking.cpp.

References mrpt::vision::CFeatureList::begin(), mrpt::vision::CFeatureList::end(), mrpt::vision::CFeatureList::erase(), mrpt::vision::status_IDLE, and mrpt::vision::status_TRACKED.

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◆ trackFeatures_deleteOOB_impl_simple_feat()

template<typename FEATLIST >
size_t mrpt::vision::detail::trackFeatures_deleteOOB_impl_simple_feat ( FEATLIST &  trackedFeats,
const size_t  img_width,
const size_t  img_height,
const int  MIN_DIST_MARGIN_TO_STOP_TRACKING 
)
inline

Definition at line 322 of file tracking.cpp.

References mrpt::vision::status_IDLE, and mrpt::vision::status_TRACKED.

◆ trackFeatures_updatePatch()

template<typename FEATLIST >
void mrpt::vision::detail::trackFeatures_updatePatch ( FEATLIST &  featureList,
const CImage &  cur_gray 
)
inline

Referenced by mrpt::vision::CGenericFeatureTracker::internal_trackFeatures().

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◆ trackFeatures_updatePatch< CFeatureList >()

template<>
void mrpt::vision::detail::trackFeatures_updatePatch< CFeatureList > ( CFeatureList &  featureList,
const CImage &  cur_gray 
)
inline

Definition at line 133 of file tracking.cpp.

References mrpt::round(), mrpt::vision::status_OOB, and mrpt::vision::status_TRACKED.

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◆ trackFeatures_updatePatch< TKeyPointfList >()

template<>
void mrpt::vision::detail::trackFeatures_updatePatch< TKeyPointfList > ( [[maybe_unused] ] TKeyPointfList &  featureList,
[[maybe_unused] ] const CImage &  cur_gray 
)
inline

Definition at line 169 of file tracking.cpp.

◆ trackFeatures_updatePatch< TKeyPointList >()

template<>
void mrpt::vision::detail::trackFeatures_updatePatch< TKeyPointList > ( [[maybe_unused] ] TKeyPointList &  featureList,
[[maybe_unused] ] const CImage &  cur_gray 
)
inline

Definition at line 162 of file tracking.cpp.



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