Detailed Description

A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or more descriptors (see descriptors), in addition to an image patch.

The (Euclidean) distance between descriptors in a pair of features can be computed with descriptorDistanceTo, while the similarity of the patches is given by patchCorrelationTo.

See also: CFeatureList, TKeyPoint, TKeyPointList

Definition at line 53 of file CFeature.h.

#include <mrpt/vision/CFeature.h>

Inheritance diagram for mrpt::vision::CFeature:

Classes
struct	TDescriptors
	All the possible descriptors this feature may have. More...

Public Member Functions
	CFeature ()=default

	~CFeature () override=default

bool	isPointFeature () const
	Return false only for Blob detectors (SIFT, SURF) More...

bool	getFirstDescriptorAsMatrix (mrpt::math::CMatrixFloat &desc) const
	Return the first found descriptor, as a matrix. More...

float	patchCorrelationTo (const CFeature &oFeature) const
	Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst). More...

float	descriptorDistanceTo (const CFeature &oFeature, TDescriptorType descriptorToUse=descAny, bool normalize_distances=true) const
	Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one. More...

float	descriptorSIFTDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorSURFDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorSpinImgDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorPolarImgDistanceTo (const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const
	Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation. More...

float	descriptorLogPolarImgDistanceTo (const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const
	Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation. More...

uint8_t	descriptorORBDistanceTo (const CFeature &oFeature) const
	Computes the Hamming distance "this" and the "other" descriptor ORB descriptor. More...

float	descriptorBLDDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorLATCHDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

void	saveToTextFile (const std::string &filename, bool APPEND=false)
	Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI_i] HAS_ORB [ORB]" "%% \|---------------------- feature ------------------\| \|---------------------- descriptors ------------------------\|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST, 7: ORB\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature. More...

TKeyPointMethod	get_type () const
	Get the type of the feature. More...

void	dumpToTextStream (std::ostream &out) const
	Dump feature information into a text stream. More...

void	dumpToConsole () const

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
TKeyPointf	keypoint

std::optional< mrpt::img::CImage >	patch
	A patch of the image surrounding the feature. More...

uint16_t	patchSize {21}
	Size of the patch (patchSize x patchSize) (it must be an odd number) More...

TKeyPointMethod	type {featNotDefined}
	Keypoint method used to detect this feature. More...

TFeatureTrackStatus	track_status {status_IDLE}
	Status of the feature tracking process. More...

float	response {0.0}
	A measure of the "goodness" of the feature. More...

float	orientation {0.0}
	Main orientation of the feature. More...

uint8_t	user_flags {0}
	A field for any other flags needed by the user (this has not a predefined meaning) More...

float	x2 [2]

float	y2 [2]
	Coordinates for a LSD Detector to represent a line. More...

double	depth
	The estimated depth in 3D of this feature wrt the camera. More...

double	initialDepth
	in the current frame More...

mrpt::math::TPoint3D	p3D
	camera that took its image More...

TDescriptors	descriptors

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Static Protected Member Functions
static float	internal_distanceBetweenPolarImages (const mrpt::math::CMatrixF &desc1, const mrpt::math::CMatrixF &desc2, float &minDistAngle, bool normalize_distances, bool dont_shift_angle)
	Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo". More...

Friends
class	CFeatureList

class	CMatchedFeatureList

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::vision ::CFeature >

using	ConstPtr = std::shared_ptr< const mrpt::vision ::CFeature >

using	UniquePtr = std::unique_ptr< mrpt::vision ::CFeature >

using	ConstUniquePtr = std::unique_ptr< const mrpt::vision ::CFeature >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::vision" "::" "CFeature"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::vision::CFeature::ConstPtr = std::shared_ptr<const mrpt::vision :: CFeature >

Definition at line 58 of file CFeature.h.

◆ ConstUniquePtr

using mrpt::vision::CFeature::ConstUniquePtr = std::unique_ptr<const mrpt::vision :: CFeature >

Definition at line 58 of file CFeature.h.

◆ Ptr

using mrpt::vision::CFeature::Ptr = std::shared_ptr< mrpt::vision :: CFeature >

A type for the associated smart pointer

Definition at line 58 of file CFeature.h.

◆ UniquePtr

using mrpt::vision::CFeature::UniquePtr = std::unique_ptr< mrpt::vision :: CFeature >

Definition at line 58 of file CFeature.h.

Constructor & Destructor Documentation

◆ CFeature()

mrpt::vision::CFeature::CFeature ( )

default

◆ ~CFeature()

mrpt::vision::CFeature::~CFeature ( )

overridedefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::vision::CFeature::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::vision::CFeature::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::vision::CFeature::Create ( Args &&... args )

inlinestatic

Definition at line 58 of file CFeature.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::vision::CFeature::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 58 of file CFeature.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::vision::CFeature::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::vision::CFeature::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 58 of file CFeature.h.

◆ descriptorBLDDistanceTo()

float CFeature::descriptorBLDDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 751 of file CFeature.cpp.

References ASSERT_, mrpt::vision::CFeature::TDescriptors::BLD, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorBLD(), and mrpt::square().

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◆ descriptorDistanceTo()

float CFeature::descriptorDistanceTo	(	const CFeature &	oFeature,
		TDescriptorType	descriptorToUse = `descAny`,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one.

Note: If descriptorToUse is not descAny and that descriptor is not present in one of the features, an exception will be raised.

See also: patchCorrelationTo

Definition at line 394 of file CFeature.cpp.

References mrpt::vision::descAny, mrpt::vision::descBLD, mrpt::vision::descLATCH, mrpt::vision::descLogPolarImages, mrpt::vision::descORB, mrpt::vision::descPolarImages, mrpt::vision::descSIFT, mrpt::vision::descSpinImages, mrpt::vision::descSURF, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

◆ descriptorLATCHDistanceTo()

float CFeature::descriptorLATCHDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 776 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorLATCH(), mrpt::vision::CFeature::TDescriptors::LATCH, and mrpt::square().

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◆ descriptorLogPolarImgDistanceTo()

float CFeature::descriptorLogPolarImgDistanceTo	(	const CFeature &	oFeature,
		float &	minDistAngle,
		bool	normalize_distances = `true`
	)		const

Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation.

Parameters

oFeature	The other feature to compare with.
minDistAngle	The placeholder for the angle at which the smallest distance is found.

Returns: The distance for the best orientation (minimum distance).

Definition at line 690 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorLogPolarImg(), mrpt::vision::CFeature::TDescriptors::LogPolarImg, MRPT_END, and MRPT_START.

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◆ descriptorORBDistanceTo()

uint8_t CFeature::descriptorORBDistanceTo ( const CFeature & oFeature ) const

Computes the Hamming distance "this" and the "other" descriptor ORB descriptor.

Definition at line 721 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::math::distance(), mrpt::vision::CFeature::TDescriptors::hasDescriptorORB(), and mrpt::vision::CFeature::TDescriptors::ORB.

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◆ descriptorPolarImgDistanceTo()

float CFeature::descriptorPolarImgDistanceTo	(	const CFeature &	oFeature,
		float &	minDistAngle,
		bool	normalize_distances = `true`
	)		const

Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation.

Parameters

oFeature	The other feature to compare with.
minDistAngle	The placeholder for the angle at which the smallest distance is found.

Returns: The distance for the best orientation (minimum distance).

Definition at line 662 of file CFeature.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_EQUAL_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorPolarImg(), MRPT_END, MRPT_START, and mrpt::vision::CFeature::TDescriptors::PolarImg.

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◆ descriptorSIFTDistanceTo()

float CFeature::descriptorSIFTDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 464 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSIFT(), mrpt::vision::CFeature::TDescriptors::SIFT, and mrpt::square().

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◆ descriptorSpinImgDistanceTo()

float CFeature::descriptorSpinImgDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 519 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSpinImg(), mrpt::vision::CFeature::TDescriptors::SpinImg, and mrpt::square().

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◆ descriptorSURFDistanceTo()

float CFeature::descriptorSURFDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 491 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSURF(), mrpt::square(), and mrpt::vision::CFeature::TDescriptors::SURF.

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◆ dumpToConsole()

void CFeature::dumpToConsole ( ) const

Definition at line 312 of file CFeature.cpp.

◆ dumpToTextStream()

void CFeature::dumpToTextStream ( std::ostream & out ) const

Dump feature information into a text stream.

Definition at line 253 of file CFeature.cpp.

References mrpt::format(), and out.

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ get_type()

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

inline

Get the type of the feature.

Definition at line 256 of file CFeature.h.

References type.

◆ getClassName()

static constexpr auto mrpt::vision::CFeature::getClassName ( )

inlinestatic

Definition at line 58 of file CFeature.h.

◆ getFirstDescriptorAsMatrix()

bool CFeature::getFirstDescriptorAsMatrix ( mrpt::math::CMatrixFloat & desc ) const

Return the first found descriptor, as a matrix.

Returns: false on error, i.e. there is no valid descriptor.

Definition at line 1241 of file CFeature.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::math::CMatrixDynamic< T >::resize(), mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::math::CMatrixDynamic< T >::size().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::vision::CFeature::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::vision::CFeature::GetRuntimeClassIdStatic ( )

static

◆ internal_distanceBetweenPolarImages()

float CFeature::internal_distanceBetweenPolarImages	(	const mrpt::math::CMatrixF &	desc1,
		const mrpt::math::CMatrixF &	desc2,
		float &	minDistAngle,
		bool	normalize_distances,
		bool	dont_shift_angle
	)

staticprotected

Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo".

Definition at line 547 of file CFeature.cpp.

References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::d2f(), M_2PI, mrpt::math::meanAndStd(), mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff(), MRPT_END, MRPT_START, mrpt::math::CVectorDynamic< T >::resize(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::square(), mrpt::math::MatrixVectorBase< Scalar, Derived >::sum(), and win.

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◆ isPointFeature()

bool CFeature::isPointFeature ( ) const

Return false only for Blob detectors (SIFT, SURF)

Definition at line 364 of file CFeature.cpp.

References mrpt::vision::featSIFT, and mrpt::vision::featSURF.

◆ patchCorrelationTo()

float CFeature::patchCorrelationTo ( const CFeature & oFeature ) const

Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst).

Note: If this or the other features does not have patches or they are of different sizes, an exception will be raised.

See also: descriptorDistanceTo

Definition at line 372 of file CFeature.cpp.

References ASSERT_, mrpt::d2f(), MRPT_END, MRPT_START, mrpt::vision::openCV_cross_correlation(), and patch.

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◆ saveToTextFile()

void CFeature::saveToTextFile	(	const std::string &	filename,
		bool	APPEND = `false`
	)

Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI_i] HAS_ORB [ORB]" "%% |---------------------- feature ------------------| |---------------------- descriptors ------------------------|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST, 7: ORB\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature.

" "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%% ORB : Present if HAS_ORB=1: DESC_0 ... DESC_31 "%%-----------------------------------------------------------------------------\n");

Definition at line 801 of file CFeature.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ serializeFrom() [1/2]

void CFeature::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 327 of file CFeature.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CFeature::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 313 of file CFeature.cpp.

◆ serializeTo() [1/2]

void CFeature::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 314 of file CFeature.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ CFeatureList

friend class CFeatureList

friend

Definition at line 55 of file CFeature.h.

◆ CMatchedFeatureList

friend class CMatchedFeatureList

friend

Definition at line 56 of file CFeature.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::vision::CFeature::className = "mrpt::vision" "::" "CFeature"

static

Definition at line 58 of file CFeature.h.

◆ depth

double mrpt::vision::CFeature::depth

Initial value:

{

0}

The estimated depth in 3D of this feature wrt the camera.

Definition at line 91 of file CFeature.h.

◆ descriptors

TDescriptors mrpt::vision::CFeature::descriptors

Definition at line 157 of file CFeature.h.

Referenced by descriptorBLDDistanceTo(), descriptorLATCHDistanceTo(), descriptorLogPolarImgDistanceTo(), descriptorORBDistanceTo(), descriptorPolarImgDistanceTo(), descriptorSIFTDistanceTo(), descriptorSpinImgDistanceTo(), descriptorSURFDistanceTo(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), and mrpt::vision::CFeatureList::loadFromTextFile().

◆ initialDepth

double mrpt::vision::CFeature::initialDepth

Initial value:

{

0}

in the current frame

The estimated depth in 3D of this feature wrt the

Definition at line 95 of file CFeature.h.

◆ keypoint

TKeyPointf mrpt::vision::CFeature::keypoint

Definition at line 64 of file CFeature.h.

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(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), mrpt::vision::CFeatureList::loadFromTextFile(), mrpt::vision::projectMatchedFeature(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ orientation

float mrpt::vision::CFeature::orientation {0.0}

Main orientation of the feature.

Definition at line 81 of file CFeature.h.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ p3D

mrpt::math::TPoint3D mrpt::vision::CFeature::p3D

camera that took its image

The estimated 3D point of this feature wrt its camera

Definition at line 99 of file CFeature.h.

◆ patch

std::optional<mrpt::img::CImage> mrpt::vision::CFeature::patch

A patch of the image surrounding the feature.

Definition at line 67 of file CFeature.h.

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(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), patchCorrelationTo(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ patchSize

uint16_t mrpt::vision::CFeature::patchSize {21}

Size of the patch (patchSize x patchSize) (it must be an odd number)

Definition at line 70 of file CFeature.h.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ response

float mrpt::vision::CFeature::response {0.0}

A measure of the "goodness" of the feature.

Definition at line 79 of file CFeature.h.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::vision::CFeature::runtimeClassId

staticprotected

Definition at line 58 of file CFeature.h.

◆ track_status

TFeatureTrackStatus mrpt::vision::CFeature::track_status {status_IDLE}

Status of the feature tracking process.

Definition at line 76 of file CFeature.h.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), and mrpt::vision::CFeatureList::loadFromTextFile().

◆ type

TKeyPointMethod mrpt::vision::CFeature::type {featNotDefined}

Keypoint method used to detect this feature.

Definition at line 73 of file CFeature.h.

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(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), get_type(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ user_flags

uint8_t mrpt::vision::CFeature::user_flags {0}

A field for any other flags needed by the user (this has not a predefined meaning)

Definition at line 86 of file CFeature.h.

◆ x2

float mrpt::vision::CFeature::x2[2]

Definition at line 89 of file CFeature.h.

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

◆ y2

float mrpt::vision::CFeature::y2[2]

Coordinates for a LSD Detector to represent a line.

Definition at line 89 of file CFeature.h.

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

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CFeature()

◆ ~CFeature()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ descriptorBLDDistanceTo()

◆ descriptorDistanceTo()

◆ descriptorLATCHDistanceTo()

◆ descriptorLogPolarImgDistanceTo()

◆ descriptorORBDistanceTo()

◆ descriptorPolarImgDistanceTo()

◆ descriptorSIFTDistanceTo()

◆ descriptorSpinImgDistanceTo()

◆ descriptorSURFDistanceTo()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ duplicateGetSmartPtr()

◆ get_type()

◆ getClassName()

◆ getFirstDescriptorAsMatrix()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ internal_distanceBetweenPolarImages()

◆ isPointFeature()

◆ patchCorrelationTo()

◆ saveToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Friends And Related Function Documentation

◆ CFeatureList

◆ CMatchedFeatureList

Member Data Documentation

◆ className

◆ depth

◆ descriptors

◆ initialDepth

◆ keypoint

◆ orientation

◆ p3D

◆ patch

◆ patchSize

◆ response

◆ runtimeClassId

◆ track_status

◆ type

◆ user_flags

◆ x2

◆ y2