MRPT  1.9.9
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mrpt::vision::CFeature Class Reference

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 mxArraywriteToMatlab () 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::CImagepatch
 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::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

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

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
oFeatureThe other feature to compare with.
minDistAngleThe 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
oFeatureThe other feature to compare with.
minDistAngleThe 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::addActions(), and mrpt::obs::CRawlog::addObservations().

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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(), 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_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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn 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::exceptionOn 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

◆ 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

◆ orientation

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

◆ 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

◆ patchSize

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

◆ response

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

◆ 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}

◆ 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().




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