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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< TSimpleFeatureList > (TSimpleFeatureList &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< TSimpleFeaturefList > (TSimpleFeaturefList &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< TSimpleFeatureList > (TSimpleFeatureList &featureList, const CImage &cur_gray)
 
template<>
void trackFeatures_updatePatch< TSimpleFeaturefList > (TSimpleFeaturefList &featureList, const CImage &cur_gray)
 
template<typename FEATLIST >
void trackFeatures_addNewFeats (FEATLIST &featureList, const TSimpleFeatureList &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 TSimpleFeatureList &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 TSimpleFeatureList &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< TSimpleFeatureList > (TSimpleFeatureList &featureList, const TSimpleFeatureList &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< TSimpleFeaturefList > (TSimpleFeaturefList &featureList, const TSimpleFeatureList &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 (TSimpleFeatureList &trackedFeats, const size_t img_width, const size_t img_height, const int MIN_DIST_MARGIN_TO_STOP_TRACKING)
 
template<>
size_t trackFeatures_deleteOOB (TSimpleFeaturefList &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 TSimpleFeatureList &  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 TSimpleFeatureList &  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 196 of file tracking.cpp.

References mrpt::vision::featFAST, mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::pt, mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::response, mrpt::utils::round(), mrpt::math::square(), mrpt::utils::TPixelCoord::x, and mrpt::utils::TPixelCoord::y.

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◆ trackFeatures_addNewFeats< TSimpleFeaturefList >()

template<>
void mrpt::vision::detail::trackFeatures_addNewFeats< TSimpleFeaturefList > ( TSimpleFeaturefList &  featureList,
const TSimpleFeatureList &  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 438 of file tracking.cpp.

◆ trackFeatures_addNewFeats< TSimpleFeatureList >()

template<>
void mrpt::vision::detail::trackFeatures_addNewFeats< TSimpleFeatureList > ( TSimpleFeatureList &  featureList,
const TSimpleFeatureList &  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 425 of file tracking.cpp.

◆ trackFeatures_addNewFeats_simple_list()

template<class FEAT_LIST >
void mrpt::vision::detail::trackFeatures_addNewFeats_simple_list ( FEAT_LIST &  featureList,
const TSimpleFeatureList &  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

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

Definition at line 254 of file tracking.cpp.

References mrpt::math::CMatrixTemplate< T >::fillAll(), mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::ID, mrpt::mrpt::utils::keep_min(), MRPT_UNUSED_PARAM, mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::octave, mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::pt, mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::response, mrpt::utils::round(), mrpt::math::CMatrixTemplate< T >::setSize(), mrpt::vision::status_IDLE, and mrpt::vision::TSimpleFeature_templ< PIXEL_COORD_TYPE >::track_status.

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◆ 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 40 of file tracking.cpp.

References mrpt::vision::CFeature::response, mrpt::vision::status_LOST, mrpt::vision::status_OOB, mrpt::vision::status_TRACKED, mrpt::vision::CFeature::track_status, mrpt::vision::CFeature::x, and mrpt::vision::CFeature::y.

◆ trackFeatures_checkResponses< TSimpleFeaturefList >()

template<>
void mrpt::vision::detail::trackFeatures_checkResponses< TSimpleFeaturefList > ( TSimpleFeaturefList &  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 127 of file tracking.cpp.

◆ trackFeatures_checkResponses< TSimpleFeatureList >()

template<>
void mrpt::vision::detail::trackFeatures_checkResponses< TSimpleFeatureList > ( TSimpleFeatureList &  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 117 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 76 of file tracking.cpp.

References mrpt::utils::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 ( TSimpleFeatureList &  trackedFeats,
const size_t  img_width,
const size_t  img_height,
const int  MIN_DIST_MARGIN_TO_STOP_TRACKING 
)
inline

Definition at line 505 of file tracking.cpp.

◆ trackFeatures_deleteOOB() [3/4]

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

Definition at line 513 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 522 of file tracking.cpp.

References mrpt::vision::CFeatureList::begin(), mrpt::vision::CFeatureList::end(), mrpt::vision::CFeatureList::erase(), MRPT_UNUSED_PARAM, status, 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 458 of file tracking.cpp.

References status, 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 142 of file tracking.cpp.

References mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), mrpt::vision::CFeature::patch, mrpt::utils::round(), mrpt::vision::status_OOB, mrpt::vision::status_TRACKED, mrpt::vision::CFeature::track_status, mrpt::vision::CFeature::x, and mrpt::vision::CFeature::y.

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◆ trackFeatures_updatePatch< TSimpleFeaturefList >()

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

Definition at line 179 of file tracking.cpp.

References MRPT_UNUSED_PARAM.

◆ trackFeatures_updatePatch< TSimpleFeatureList >()

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

Definition at line 171 of file tracking.cpp.

References MRPT_UNUSED_PARAM.



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