mrpt::vision::CFeatureList Class Reference

Detailed Description

A list of visual features, to be used as output by detectors, as input/output by trackers, etc.

Definition at line 275 of file CFeature.h.

#include <mrpt/vision/CFeature.h>

Inheritance diagram for mrpt::vision::CFeatureList:

Public Types
using	self_t = KDTreeCapable< CFeatureList, float, nanoflann::L2_Simple_Adaptor< float, CFeatureList > >

Public Member Functions
TKeyPointMethod	get_type () const
	The type of the first feature in the list. More...
void	saveToTextFile (const std::string &fileName, bool APPEND=false)
	Save feature list to a text file. More...
void	loadFromTextFile (const std::string &fileName)
	Save feature list to a text file. More...
void	copyListFrom (const CFeatureList &otherList)
	Copies the content of another CFeatureList inside this one. More...
TFeatureID	getMaxID () const
	Get the maximum ID into the list. More...
const CFeature *	getByID (const TFeatureID &ID) const
	Get a reference to a Feature from its ID. More...
const CFeature *	getByID (const TFeatureID &ID, int &out_idx) const
const CFeature *	nearest (const float x, const float y, double &max_dist) const
	Get a reference to the nearest feature to the a given 2D point (version returning distance to closest feature in "max_dist") More...
	CFeatureList ()=default
	Constructor. More...
virtual	~CFeatureList ()
	Virtual destructor. More...
void	mark_kdtree_as_outdated () const
	Call this when the list of features has been modified so the KD-tree is marked as outdated. More...
const CFeatureList &	derived () const
	CRTP helper method. More...
CFeatureList &	derived ()
	CRTP helper method. More...
Methods that MUST be implemented by children classes of
KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points. More...
float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class: More...
float	kdtree_distance (const float *p1, const size_t idx_p2, [[maybe_unused]] size_t size) const
	Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...
template<typename BBOX >
bool	kdtree_get_bbox ([[maybe_unused]] BBOX &bb) const
getFeature*() methods for template-based access to feature list
float	getFeatureX (size_t i) const
float	getFeatureY (size_t i) const
TFeatureID	getFeatureID (size_t i) const
float	getFeatureResponse (size_t i) const
bool	isPointFeature (size_t i) const
float	getScale (size_t i) const
TFeatureTrackStatus	getTrackStatus (size_t i)
void	setFeatureX (size_t i, float x)
void	setFeatureXf (size_t i, float x)
void	setFeatureY (size_t i, float y)
void	setFeatureYf (size_t i, float y)
void	setFeatureID (size_t i, TFeatureID id)
void	setFeatureResponse (size_t i, float r)
void	setScale (size_t i, uint8_t s)
void	setTrackStatus (size_t i, TFeatureTrackStatus s)
void	mark_as_outdated () const
Public utility methods to query the KD-tree
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const
size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const
float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...
float	kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const
void	kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
	KD Tree-based search for the TWO closest point to some given 2D coordinates. More...
void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const
std::vector< size_t >	kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates. More...
std::vector< size_t >	kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const
void	kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...
void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const
size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...
size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const
size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const
void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...
void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const
void	kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...
size_t	kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 3D point. More...
size_t	kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 2D point. More...
void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...
void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const
void	kdTreeEnsureIndexBuilt3D ()
void	kdTreeEnsureIndexBuilt2D ()

Public Attributes
TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches. More...

Protected Types
using	TInternalFeatList = std::vector< CFeature >

Protected Member Functions
void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes. More...

Protected Attributes
TInternalFeatList	m_feats
	The actual container with the list of features. More...

Method and datatypes to emulate a STL container
using	iterator = TInternalFeatList::iterator
using	const_iterator = TInternalFeatList::const_iterator
using	reverse_iterator = TInternalFeatList::reverse_iterator
using	const_reverse_iterator = TInternalFeatList::const_reverse_iterator
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
reverse_iterator	rbegin ()
reverse_iterator	rend ()
const_reverse_iterator	rbegin () const
const_reverse_iterator	rend () const
iterator	erase (const iterator &it)
bool	empty () const
size_t	size () const
void	clear ()
void	resize (size_t N)
void	emplace_back (CFeature &&f)
void	push_back (const CFeature &f)
CFeature &	operator[] (const unsigned int index)
const CFeature &	operator[] (const unsigned int index) const

Member Typedef Documentation

const_iterator

using mrpt::vision::CFeatureList::const_iterator = TInternalFeatList::const_iterator

Definition at line 332 of file CFeature.h.

const_reverse_iterator

using mrpt::vision::CFeatureList::const_reverse_iterator = TInternalFeatList::const_reverse_iterator

Definition at line 335 of file CFeature.h.

iterator

using mrpt::vision::CFeatureList::iterator = TInternalFeatList::iterator

Definition at line 331 of file CFeature.h.

reverse_iterator

using mrpt::vision::CFeatureList::reverse_iterator = TInternalFeatList::reverse_iterator

Definition at line 334 of file CFeature.h.

self_t

using mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::self_t = KDTreeCapable<CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >

inherited

Definition at line 87 of file KDTreeCapable.h.

TInternalFeatList

using mrpt::vision::CFeatureList::TInternalFeatList = std::vector<CFeature>

protected

Definition at line 278 of file CFeature.h.

Constructor & Destructor Documentation

CFeatureList()

mrpt::vision::CFeatureList::CFeatureList ( )

default

Constructor.

~CFeatureList()

CFeatureList::~CFeatureList ( )

virtualdefault

Virtual destructor.

Member Function Documentation

begin() [1/2]

iterator mrpt::vision::CFeatureList::begin ( )

inline

Definition at line 337 of file CFeature.h.

References m_feats.

Referenced by copyListFrom(), get_type(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::matchFeatures(), mrpt::vision::projectMatchedFeatures(), and mrpt::vision::detail::trackFeatures_deleteOOB().

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begin() [2/2]

const_iterator mrpt::vision::CFeatureList::begin ( ) const

inline

Definition at line 339 of file CFeature.h.

References m_feats.

clear()

void mrpt::vision::CFeatureList::clear ( )

inline

Definition at line 353 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), and mrpt::vision::CFeatureExtraction::extractFeaturesSURF().

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copyListFrom()

void CFeatureList::copyListFrom

(

const CFeatureList &

otherList

)

Copies the content of another CFeatureList inside this one.

The inner features are also copied.

Definition at line 1074 of file CFeature.cpp.

References mrpt::containers::begin(), begin(), end(), resize(), and size().

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derived() [1/2]

const CFeatureList & mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 100 of file KDTreeCapable.h.

derived() [2/2]

CFeatureList & mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 105 of file KDTreeCapable.h.

emplace_back()

void mrpt::vision::CFeatureList::emplace_back ( CFeature &&  f )

inline

Definition at line 364 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), and mrpt::vision::CFeatureExtraction::extractFeaturesSURF().

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empty()

bool mrpt::vision::CFeatureList::empty ( ) const

inline

Definition at line 351 of file CFeature.h.

References m_feats.

Referenced by get_type(), mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::TSIFTDescriptorsKDTreeIndex< distance_t, metric_t >::TSIFTDescriptorsKDTreeIndex(), and mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::TSURFDescriptorsKDTreeIndex().

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end() [1/2]

iterator mrpt::vision::CFeatureList::end ( )

inline

Definition at line 338 of file CFeature.h.

References m_feats.

Referenced by copyListFrom(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::matchFeatures(), mrpt::vision::projectMatchedFeatures(), and mrpt::vision::detail::trackFeatures_deleteOOB().

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end() [2/2]

const_iterator mrpt::vision::CFeatureList::end ( ) const

inline

Definition at line 340 of file CFeature.h.

References m_feats.

erase()

iterator mrpt::vision::CFeatureList::erase ( const iterator &  it )

inline

Definition at line 345 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::projectMatchedFeatures(), and mrpt::vision::detail::trackFeatures_deleteOOB().

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get_type()

TKeyPointMethod mrpt::vision::CFeatureList::get_type ( ) const

inline

The type of the first feature in the list.

Definition at line 285 of file CFeature.h.

References begin(), empty(), and mrpt::vision::featNotDefined.

Referenced by mrpt::vision::matchFeatures().

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getByID() [1/2]

const CFeature * CFeatureList::getByID

(

const TFeatureID &

ID

)

const

Get a reference to a Feature from its ID.

Definition at line 1086 of file CFeature.cpp.

getByID() [2/2]

const CFeature * CFeatureList::getByID	(	const TFeatureID &	ID,
		int &	out_idx
	)		const

Definition at line 1094 of file CFeature.cpp.

References mrpt::containers::begin(), and mrpt::containers::end().

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getFeatureID()

TFeatureID mrpt::vision::CFeatureList::getFeatureID ( size_t  i ) const

inline

Definition at line 439 of file CFeature.h.

References m_feats.

getFeatureResponse()

float mrpt::vision::CFeatureList::getFeatureResponse ( size_t  i ) const

inline

Definition at line 443 of file CFeature.h.

References m_feats.

getFeatureX()

float mrpt::vision::CFeatureList::getFeatureX ( size_t  i ) const

inline

Definition at line 431 of file CFeature.h.

References m_feats.

getFeatureY()

float mrpt::vision::CFeatureList::getFeatureY ( size_t  i ) const

inline

Definition at line 435 of file CFeature.h.

References m_feats.

getMaxID()

TFeatureID CFeatureList::getMaxID

(

)

const

Get the maximum ID into the list.

Definition at line 1135 of file CFeature.cpp.

References ASSERT_, mrpt::containers::begin(), mrpt::containers::empty(), mrpt::keep_max(), MRPT_END, and MRPT_START.

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getScale()

float mrpt::vision::CFeatureList::getScale ( size_t  i ) const

inline

Definition at line 451 of file CFeature.h.

References m_feats.

getTrackStatus()

TFeatureTrackStatus mrpt::vision::CFeatureList::getTrackStatus ( size_t  i )

inline

Definition at line 452 of file CFeature.h.

References m_feats.

isPointFeature()

bool mrpt::vision::CFeatureList::isPointFeature ( size_t  i ) const

inline

Definition at line 447 of file CFeature.h.

References m_feats.

kdtree_distance()

float mrpt::vision::CFeatureList::kdtree_distance ( const float *  p1, const size_t  idx_p2, [[maybe_unused] ] size_t  size  ) const

inline

Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

Definition at line 404 of file CFeature.h.

References ASSERTDEB_, m_feats, and size().

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kdtree_get_bbox()

template<typename BBOX >

bool mrpt::vision::CFeatureList::kdtree_get_bbox ( [[maybe_unused] ] BBOX &  bb ) const

inline

Definition at line 422 of file CFeature.h.

kdtree_get_point_count()

size_t mrpt::vision::CFeatureList::kdtree_get_point_count ( ) const

inline

Must return the number of data points.

Definition at line 391 of file CFeature.h.

References size().

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kdtree_get_pt()

float mrpt::vision::CFeatureList::kdtree_get_pt ( const size_t  idx, int  dim  ) const

inline

Returns the dim'th component of the idx'th point in the class:

Definition at line 393 of file CFeature.h.

References ASSERTDEB_, and m_feats.

kdtree_mark_as_outdated()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdtree_mark_as_outdated ( ) const

inlineprotectedinherited

To be called by child classes when KD tree data changes.

Definition at line 714 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree_is_uptodate, and mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree_mtx.

Referenced by mark_as_outdated(), and mark_kdtree_as_outdated().

kdTreeClosestPoint2D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D ( float  x0, float  y0, float &  out_x, float &  out_y, float &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns

The index of the closest point in the map array.

See also

kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 136 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

kdTreeClosestPoint2D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D ( float  x0, float  y0, float &  out_dist_sqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 163 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

kdTreeClosestPoint2D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D ( const TPoint2D &  p0, TPoint2D &  pOut, float &  outDistSqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 185 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint2D(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

kdTreeClosestPoint2DsqrError() [1/2]

float mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2DsqrError ( float  x0, float  y0  ) const

inlineinherited

Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.

Definition at line 199 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint2D().

kdTreeClosestPoint2DsqrError() [2/2]

float mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2DsqrError ( const TPoint2D &  p0 ) const

inlineinherited

Definition at line 206 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint2DsqrError(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

kdTreeClosestPoint3D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D ( float  x0, float  y0, float  z0, float &  out_x, float &  out_y, float &  out_z, float &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_z	The Z coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns

The index of the closest point in the map array.

See also

kdTreeClosestPoint2D

Definition at line 405 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

kdTreeClosestPoint3D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D ( float  x0, float  y0, float  z0, float &  out_dist_sqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 433 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

kdTreeClosestPoint3D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D ( const TPoint3D &  p0, TPoint3D &  pOut, float &  outDistSqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 455 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint3D(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

kdTreeEnsureIndexBuilt2D()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeEnsureIndexBuilt2D ( )

inlineinherited

Definition at line 708 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D().

kdTreeEnsureIndexBuilt3D()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeEnsureIndexBuilt3D ( )

inlineinherited

Definition at line 707 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D().

kdTreeNClosestPoint2D() [1/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2D ( float  x0, float  y0, size_t  knn, std::vector< float > &  out_x, std::vector< float > &  out_y, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

Returns

The list of indices

See also

kdTreeClosestPoint2D

kdTreeTwoClosestPoint2D

Definition at line 296 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

kdTreeNClosestPoint2D() [2/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2D ( const TPoint2D &  p0, size_t  N, std::vector< TPoint2D > &  pOut, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 326 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint2D(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

kdTreeNClosestPoint2DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2DIdx ( float  x0, float  y0, size_t  knn, std::vector< size_t > &  out_idx, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also

kdTreeClosestPoint2D

Definition at line 358 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

kdTreeNClosestPoint2DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2DIdx ( const TPoint2D &  p0, size_t  N, std::vector< size_t > &  outIdx, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 378 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint2DIdx(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

kdTreeNClosestPoint3D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3D ( float  x0, float  y0, float  z0, size_t  knn, std::vector< float > &  out_x, std::vector< float > &  out_y, std::vector< float > &  out_z, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also

kdTreeNClosestPoint2D

Definition at line 489 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

kdTreeNClosestPoint3D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3D ( const TPoint3D &  p0, size_t  N, std::vector< TPoint3D > &  pOut, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 576 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint3D(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

kdTreeNClosestPoint3DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DIdx ( float  x0, float  y0, float  z0, size_t  knn, std::vector< size_t > &  out_idx, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also

kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 679 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

kdTreeNClosestPoint3DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DIdx ( const TPoint3D &  p0, size_t  N, std::vector< size_t > &  outIdx, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 699 of file KDTreeCapable.h.

References mrpt::d2f(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint3DIdx(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

kdTreeNClosestPoint3DWithIdx()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DWithIdx ( float  x0, float  y0, float  z0, size_t  knn, std::vector< float > &  out_x, std::vector< float > &  out_y, std::vector< float > &  out_z, std::vector< size_t > &  out_idx, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_idx	The vector containing the indexes of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also

kdTreeNClosestPoint2D

Definition at line 544 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

kdTreeRadiusSearch2D()

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeRadiusSearch2D ( const float  x0, const float  y0, const float  maxRadiusSqr, std::vector< std::pair< size_t, float >> &  out_indices_dist  ) const

inlineinherited

KD Tree-based search for all the points within a given radius of some 2D point.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns

Number of found points.

See also

kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 644 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, and mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D().

kdTreeRadiusSearch3D()

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeRadiusSearch3D ( const float  x0, const float  y0, const float  z0, const float  maxRadiusSqr, std::vector< std::pair< size_t, float >> &  out_indices_dist  ) const

inlineinherited

KD Tree-based search for all the points within a given radius of some 3D point.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns

Number of found points.

See also

kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 609 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, and mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D().

kdTreeTwoClosestPoint2D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeTwoClosestPoint2D ( float  x0, float  y0, float &  out_x1, float &  out_y1, float &  out_x2, float &  out_y2, float &  out_dist_sqr1, float &  out_dist_sqr2  ) const

inlineinherited

KD Tree-based search for the TWO closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x1	The X coordinate of the first correspondence.
out_y1	The Y coordinate of the first correspondence.
out_x2	The X coordinate of the second correspondence.
out_y2	The Y coordinate of the second correspondence.
out_dist_sqr1	The square distance between the query and the first returned point.
out_dist_sqr2	The square distance between the query and the second returned point.

See also

kdTreeClosestPoint2D

Definition at line 231 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

kdTreeTwoClosestPoint2D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeTwoClosestPoint2D ( const TPoint2D &  p0, TPoint2D &  pOut1, TPoint2D &  pOut2, float &  outDistSqr1, float &  outDistSqr2  ) const

inlineinherited

Definition at line 262 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeTwoClosestPoint2D(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

loadFromTextFile()

void CFeatureList::loadFromTextFile

(

const std::string &

fileName

)

Save feature list to a text file.

Definition at line 959 of file CFeature.cpp.

References mrpt::vision::CFeature::TDescriptors::BLD, mrpt::vision::CFeature::descriptors, mrpt::format(), mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::ID, mrpt::vision::CFeature::keypoint, mrpt::vision::CFeature::TDescriptors::LATCH, MRPT_END, MRPT_START, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::octave, mrpt::vision::CFeature::orientation, mrpt::vision::TKeyPoint_templ< PIXEL_COORD_TYPE >::pt, mrpt::vision::CFeature::response, mrpt::vision::CFeature::TDescriptors::SIFT, mrpt::vision::CFeature::TDescriptors::SURF, THROW_EXCEPTION, mrpt::vision::CFeature::track_status, mrpt::vision::CFeature::type, val, mrpt::img::TPixelCoordf::x, and mrpt::img::TPixelCoordf::y.

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mark_as_outdated()

void mrpt::vision::CFeatureList::mark_as_outdated ( ) const

inline

Definition at line 484 of file CFeature.h.

References mrpt::math::KDTreeCapable< CFeatureList >::kdtree_mark_as_outdated().

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mark_kdtree_as_outdated()

void mrpt::vision::CFeatureList::mark_kdtree_as_outdated ( ) const

inline

Call this when the list of features has been modified so the KD-tree is marked as outdated.

Definition at line 328 of file CFeature.h.

References mrpt::math::KDTreeCapable< CFeatureList >::kdtree_mark_as_outdated().

Referenced by clear(), emplace_back(), erase(), push_back(), and resize().

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nearest()

const CFeature * CFeatureList::nearest	(	const float	x,
		const float	y,
		double &	max_dist
	)		const

Get a reference to the nearest feature to the a given 2D point (version returning distance to closest feature in "max_dist")

Parameters

x	[IN] The query point x-coordinate
y	[IN] The query point y-coordinate
max_dist	[IN/OUT] At input: The maximum distance to search for. At output: The actual distance to the feature.

Returns

A pointer to the found feature, or nullptr if not found.

Note

See also all the available KD-tree search methods, listed in mrpt::math::KDTreeCapable

Definition at line 1110 of file CFeature.cpp.

References mrpt::containers::empty().

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operator[]() [1/2]

CFeature& mrpt::vision::CFeatureList::operator[] ( const unsigned int  index )

inline

Definition at line 375 of file CFeature.h.

References m_feats.

operator[]() [2/2]

const CFeature& mrpt::vision::CFeatureList::operator[] ( const unsigned int  index ) const

inline

Definition at line 379 of file CFeature.h.

References m_feats.

push_back()

void mrpt::vision::CFeatureList::push_back ( const CFeature &  f )

inline

Definition at line 369 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesSIFT().

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rbegin() [1/2]

reverse_iterator mrpt::vision::CFeatureList::rbegin ( )

inline

Definition at line 341 of file CFeature.h.

References m_feats.

rbegin() [2/2]

const_reverse_iterator mrpt::vision::CFeatureList::rbegin ( ) const

inline

Definition at line 343 of file CFeature.h.

References m_feats.

rend() [1/2]

reverse_iterator mrpt::vision::CFeatureList::rend ( )

inline

Definition at line 342 of file CFeature.h.

References m_feats.

rend() [2/2]

const_reverse_iterator mrpt::vision::CFeatureList::rend ( ) const

inline

Definition at line 344 of file CFeature.h.

References m_feats.

resize()

void mrpt::vision::CFeatureList::resize ( size_t  N )

inline

Definition at line 358 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CMatchedFeatureList::getBothFeatureLists(), and mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors().

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saveToTextFile()

void CFeatureList::saveToTextFile	(	const std::string &	fileName,
		bool	APPEND = false
	)

Save feature list to a text file.

Definition at line 881 of file CFeature.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

setFeatureID()

void mrpt::vision::CFeatureList::setFeatureID ( size_t  i, TFeatureID  id  )

inline

Definition at line 467 of file CFeature.h.

References m_feats.

setFeatureResponse()

void mrpt::vision::CFeatureList::setFeatureResponse ( size_t  i, float  r  )

inline

Definition at line 471 of file CFeature.h.

References m_feats.

setFeatureX()

void mrpt::vision::CFeatureList::setFeatureX ( size_t  i, float  x  )

inline

Definition at line 457 of file CFeature.h.

References m_feats.

setFeatureXf()

void mrpt::vision::CFeatureList::setFeatureXf ( size_t  i, float  x  )

inline

Definition at line 458 of file CFeature.h.

References m_feats.

setFeatureY()

void mrpt::vision::CFeatureList::setFeatureY ( size_t  i, float  y  )

inline

Definition at line 462 of file CFeature.h.

References m_feats.

setFeatureYf()

void mrpt::vision::CFeatureList::setFeatureYf ( size_t  i, float  y  )

inline

Definition at line 463 of file CFeature.h.

References m_feats.

setScale()

void mrpt::vision::CFeatureList::setScale ( size_t  i, uint8_t  s  )

inline

Definition at line 475 of file CFeature.h.

References m_feats.

setTrackStatus()

void mrpt::vision::CFeatureList::setTrackStatus ( size_t  i, TFeatureTrackStatus  s  )

inline

Definition at line 479 of file CFeature.h.

References m_feats.

size()

size_t mrpt::vision::CFeatureList::size ( ) const

inline

Definition at line 352 of file CFeature.h.

References m_feats.

Referenced by copyListFrom(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::find_descriptor_pairings(), mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSiftDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::CGenericFeatureTracker::internal_trackFeatures(), mrpt::vision::detail::TSIFTDesc2KDTree_Adaptor< distance_t >::kdtree_distance(), mrpt::vision::detail::TSURFDesc2KDTree_Adaptor< distance_t >::kdtree_distance(), kdtree_distance(), mrpt::vision::detail::TSIFTDesc2KDTree_Adaptor< distance_t >::kdtree_get_point_count(), mrpt::vision::detail::TSURFDesc2KDTree_Adaptor< distance_t >::kdtree_get_point_count(), kdtree_get_point_count(), mrpt::vision::matchFeatures(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::TSIFTDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee(), and mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee().

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Member Data Documentation

kdtree_search_params

TKDTreeSearchParams mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdtree_search_params

inherited

Parameters to tune the ANN searches.

Definition at line 114 of file KDTreeCapable.h.

m_feats

TInternalFeatList mrpt::vision::CFeatureList::m_feats

protected

The actual container with the list of features.

Definition at line 281 of file CFeature.h.

Referenced by begin(), clear(), emplace_back(), empty(), end(), erase(), getFeatureID(), getFeatureResponse(), getFeatureX(), getFeatureY(), getScale(), getTrackStatus(), isPointFeature(), kdtree_distance(), kdtree_get_pt(), operator[](), push_back(), rbegin(), rend(), resize(), setFeatureID(), setFeatureResponse(), setFeatureX(), setFeatureXf(), setFeatureY(), setFeatureYf(), setScale(), setTrackStatus(), and size().