multiDesc_utils.h File Reference

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

Go to the source code of this file.

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

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

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