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| void | mrpt::vision::openCV_cross_correlation (const mrpt::img::CImage &img, const mrpt::img::CImage &patch_img, size_t &x_max, size_t &y_max, double &max_val, int x_search_ini=-1, int y_search_ini=-1, int x_search_size=-1, int y_search_size=-1) |
| | Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate This implementation reduced computation time. More...
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| mrpt::math::TPoint3D | mrpt::vision::pixelTo3D (const mrpt::img::TPixelCoordf &xy, const mrpt::math::CMatrixDouble33 &A) |
| | Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates. More...
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| mrpt::math::CMatrixDouble33 | mrpt::vision::buildIntrinsicParamsMatrix (const double focalLengthX, const double focalLengthY, const double centerX, const double centerY) |
| | Builds the intrinsic parameters matrix A from parameters: More...
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| mrpt::math::CMatrixDouble33 | mrpt::vision::defaultIntrinsicParamsMatrix (unsigned int camIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240) |
| | Returns the stored, default intrinsic params matrix for a given camera: More...
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| double | mrpt::vision::computeMsd (const mrpt::tfest::TMatchingPairList &list, const poses::CPose3D &Rt) |
| | Computes the mean squared distance between a set of 3D correspondences ... More...
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| void | mrpt::vision::cloudsToMatchedList (const mrpt::obs::CObservationVisualLandmarks &cloud1, const mrpt::obs::CObservationVisualLandmarks &cloud2, mrpt::tfest::TMatchingPairList &outList) |
| | Transform two clouds of 3D points into a matched list of points ... More...
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| float | mrpt::vision::computeMainOrientation (const mrpt::img::CImage &image, unsigned int x, unsigned int y) |
| | Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms) More...
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| void | mrpt::vision::normalizeImage (const mrpt::img::CImage &image, mrpt::img::CImage &nimage) |
| | Normalizes the brigthness and contrast of an image by setting its mean value to zero and its standard deviation to unit. More...
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| size_t | mrpt::vision::matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions(), const TStereoSystemParams ¶ms=TStereoSystemParams()) |
| | Find the matches between two lists of features which must be of the same type. More...
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| void | mrpt::vision::generateMask (const CMatchedFeatureList &mList, mrpt::math::CMatrixBool &mask1, mrpt::math::CMatrixBool &mask2, int wSize=10) |
| | Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. More...
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| double | mrpt::vision::computeSAD (const mrpt::img::CImage &patch1, const mrpt::img::CImage &patch2) |
| | Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. More...
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| void | mrpt::vision::addFeaturesToImage (const mrpt::img::CImage &inImg, const CFeatureList &theList, mrpt::img::CImage &outImg) |
| | Draw rectangles around each of the features on a copy of the input image. More...
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| void | mrpt::vision::projectMatchedFeatures (const CMatchedFeatureList &matches, const mrpt::img::TStereoCamera &stereo_camera, std::vector< mrpt::math::TPoint3D > &out_points) |
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| void | mrpt::vision::projectMatchedFeatures (const CFeatureList &leftList, const CFeatureList &rightList, std::vector< mrpt::math::TPoint3D > &vP3D, const TStereoSystemParams ¶ms=TStereoSystemParams()) |
| | Computes the 3D position of a set of matched features from their coordinates in the images. More...
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| void | mrpt::vision::projectMatchedFeature (const CFeature &leftFeat, const CFeature &rightFeat, mrpt::math::TPoint3D &p3D, const TStereoSystemParams ¶ms=TStereoSystemParams()) |
| | Computes the 3D position of a particular matched feature. More...
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| void | mrpt::vision::projectMatchedFeatures (CMatchedFeatureList &mfList, const TStereoSystemParams ¶m, mrpt::maps::CLandmarksMap &landmarks) |
| | Project a list of matched features into the 3D space, using the provided parameters of the stereo system. More...
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| void | mrpt::vision::projectMatchedFeatures (CFeatureList &leftList, CFeatureList &rightList, const TStereoSystemParams ¶m, mrpt::maps::CLandmarksMap &landmarks) |
| | Project a pair of feature lists into the 3D space, using the provided options for the stereo system. More...
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| void | mrpt::vision::StereoObs2BRObs (const mrpt::obs::CObservationStereoImages &inObs, const std::vector< double > &sg, mrpt::obs::CObservationBearingRange &outObs) |
| | Converts a stereo images observation into a bearing and range observation. More...
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| void | mrpt::vision::StereoObs2BRObs (const CMatchedFeatureList &inMatches, const mrpt::math::CMatrixDouble33 &intrinsicParams, double baseline, const mrpt::poses::CPose3D &sensorPose, const std::vector< double > &sg, mrpt::obs::CObservationBearingRange &outObs) |
| | Converts a matched feature list into a bearing and range observation (some of the stereo camera system must be provided). More...
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| void | mrpt::vision::StereoObs2BRObs (const mrpt::obs::CObservationVisualLandmarks &inObs, mrpt::obs::CObservationBearingRange &outObs) |
| | Converts a CObservationVisualLandmarks into a bearing and range observation (without any covariances). More...
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| void | mrpt::vision::computeStereoRectificationMaps (const mrpt::img::TCamera &cam1, const mrpt::img::TCamera &cam2, const mrpt::poses::CPose3D &rightCameraPose, void *outMap1x, void *outMap1y, void *outMap2x, void *outMap2y) |
| | Computes a pair of x-and-y maps for stereo rectification from a pair of cameras and the relative pose of the second one wrt the first one. More...
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