Detailed Description

A list of visual features, to be used as output by detectors, as input/output by trackers, etc.

Definition at line 304 of file CFeature.h.

#include <mrpt/vision/CFeature.h>

Inheritance diagram for mrpt::vision::CFeatureList:

Public Types
using	self_t = KDTreeCapable< CFeatureList, float, nanoflann::L2_Simple_Adaptor< float, CFeatureList > >

Public Member Functions
TFeatureType	get_type () const
	The type of the first feature in the list. More...

void	saveToTextFile (const std::string &fileName, bool APPEND=false)
	Save feature list to a text file. More...

void	loadFromTextFile (const std::string &fileName)
	Save feature list to a text file. More...

void	copyListFrom (const CFeatureList &otherList)
	Copies the content of another CFeatureList inside this one. More...

TFeatureID	getMaxID () const
	Get the maximum ID into the list. More...

CFeature::Ptr	getByID (const TFeatureID &ID) const
	Get a reference to a Feature from its ID. More...

CFeature::Ptr	getByID (const TFeatureID &ID, int &out_idx) const

void	getByMultiIDs (const std::vector< TFeatureID > &IDs, std::vector< CFeature::Ptr > &out, std::vector< int > &outIndex) const
	Get a vector of references to a subset of features from their IDs. More...

CFeature::Ptr	nearest (const float x, const float y, double &max_dist) const
	Get a reference to the nearest feature to the a given 2D point (version returning distance to closest feature in "max_dist") More...

	CFeatureList ()
	Constructor. More...

virtual	~CFeatureList ()
	Virtual destructor. More...

void	mark_kdtree_as_outdated () const
	Call this when the list of features has been modified so the KD-tree is marked as outdated. More...

const CFeatureList &	derived () const
	CRTP helper method. More...

CFeatureList &	derived ()
	CRTP helper method. More...

Methods that MUST be implemented by children classes of
KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points. More...

float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class: More...

float	kdtree_distance (const float *p1, const size_t idx_p2, size_t size) const
	Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...

template<typename BBOX >
bool	kdtree_get_bbox (BBOX &bb) const

getFeature*() methods for template-based access to feature list
float	getFeatureX (size_t i) const

float	getFeatureY (size_t i) const

TFeatureID	getFeatureID (size_t i) const

float	getFeatureResponse (size_t i) const

bool	isPointFeature (size_t i) const

float	getScale (size_t i) const

TFeatureTrackStatus	getTrackStatus (size_t i)

void	setFeatureX (size_t i, float x)

void	setFeatureXf (size_t i, float x)

void	setFeatureY (size_t i, float y)

void	setFeatureYf (size_t i, float y)

void	setFeatureID (size_t i, TFeatureID id)

void	setFeatureResponse (size_t i, float r)

void	setScale (size_t i, float s)

void	setTrackStatus (size_t i, TFeatureTrackStatus s)

void	mark_as_outdated () const

Public Attributes
TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches. More...

Protected Types
using	TInternalFeatList = std::vector< CFeature::Ptr >

Protected Attributes
TInternalFeatList	m_feats
	The actual container with the list of features. More...

Public utility methods to query the KD-tree
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...

size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...

float	kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const

void	kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
	KD Tree-based search for the TWO closest point to some given 2D coordinates. More...

void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const

std::vector< size_t >	kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates. More...

std::vector< size_t >	kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

size_t	kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 3D point. More...

size_t	kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 2D point. More...

void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

TKDTreeDataHolder< 2 >	m_kdtree2d_data

TKDTreeDataHolder< 3 >	m_kdtree3d_data

TKDTreeDataHolder	m_kdtreeNd_data

bool	m_kdtree_is_uptodate
	whether the KD tree needs to be rebuilt or not. More...

void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes. More...

void	rebuild_kdTree_2D () const
	Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... More...

void	rebuild_kdTree_3D () const
	Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... More...

Method and datatypes to emulate a STL container
using	iterator = TInternalFeatList::iterator

using	const_iterator = TInternalFeatList::const_iterator

using	reverse_iterator = TInternalFeatList::reverse_iterator

using	const_reverse_iterator = TInternalFeatList::const_reverse_iterator

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

reverse_iterator	rbegin ()

reverse_iterator	rend ()

const_reverse_iterator	rbegin () const

const_reverse_iterator	rend () const

iterator	erase (const iterator &it)

bool	empty () const

size_t	size () const

void	clear ()

void	resize (size_t N)

void	push_back (const CFeature::Ptr &f)

CFeature::Ptr &	operator[] (const unsigned int index)

const CFeature::Ptr &	operator[] (const unsigned int index) const

Member Typedef Documentation

◆ const_iterator

using mrpt::vision::CFeatureList::const_iterator = TInternalFeatList::const_iterator

Definition at line 368 of file CFeature.h.

◆ const_reverse_iterator

using mrpt::vision::CFeatureList::const_reverse_iterator = TInternalFeatList::const_reverse_iterator

Definition at line 371 of file CFeature.h.

◆ iterator

using mrpt::vision::CFeatureList::iterator = TInternalFeatList::iterator

Definition at line 367 of file CFeature.h.

◆ reverse_iterator

using mrpt::vision::CFeatureList::reverse_iterator = TInternalFeatList::reverse_iterator

Definition at line 370 of file CFeature.h.

◆ self_t

using mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::self_t = KDTreeCapable<CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >

inherited

Definition at line 83 of file KDTreeCapable.h.

◆ TInternalFeatList

using mrpt::vision::CFeatureList::TInternalFeatList = std::vector<CFeature::Ptr>

protected

Definition at line 309 of file CFeature.h.

Constructor & Destructor Documentation

◆ CFeatureList()

CFeatureList::CFeatureList ( )

Constructor.

Definition at line 1029 of file CFeature.cpp.

◆ ~CFeatureList()

CFeatureList::~CFeatureList ( )

virtual

Virtual destructor.

Definition at line 1033 of file CFeature.cpp.

Member Function Documentation

◆ begin() [1/2]

iterator mrpt::vision::CFeatureList::begin ( )

inline

Definition at line 373 of file CFeature.h.

References m_feats.

◆ begin() [2/2]

const_iterator mrpt::vision::CFeatureList::begin ( ) const

inline

Definition at line 375 of file CFeature.h.

References m_feats.

◆ clear()

void mrpt::vision::CFeatureList::clear ( )

inline

Definition at line 389 of file CFeature.h.

◆ copyListFrom()

void CFeatureList::copyListFrom ( const CFeatureList & otherList )

Copies the content of another CFeatureList inside this one.

The inner features are also copied.

Definition at line 1239 of file CFeature.cpp.

References begin(), end(), and size().

◆ derived() [1/2]

CFeatureList & mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::derived

inlineinherited

CRTP helper method.

Definition at line 94 of file KDTreeCapable.h.

◆ derived() [2/2]

const CFeatureList & mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::derived

inlineinherited

CRTP helper method.

Definition at line 89 of file KDTreeCapable.h.

◆ empty()

bool mrpt::vision::CFeatureList::empty ( ) const

inline

Definition at line 387 of file CFeature.h.

Referenced by mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >(), mrpt::vision::TSIFTDescriptorsKDTreeIndex< distance_t, metric_t >::TSIFTDescriptorsKDTreeIndex(), and mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::TSURFDescriptorsKDTreeIndex().

◆ end() [1/2]

iterator mrpt::vision::CFeatureList::end ( )

inline

Definition at line 374 of file CFeature.h.

References m_feats.

◆ end() [2/2]

const_iterator mrpt::vision::CFeatureList::end ( ) const

inline

Definition at line 376 of file CFeature.h.

References m_feats.

◆ erase()

iterator mrpt::vision::CFeatureList::erase ( const iterator & it )

inline

Definition at line 381 of file CFeature.h.

Referenced by mrpt::vision::checkTrackedFeatures(), mrpt::vision::deleteRepeatedFeats(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::rowChecking(), and mrpt::vision::detail::trackFeatures_deleteOOB().

◆ get_type()

TFeatureType mrpt::vision::CFeatureList::get_type ( ) const

inline

The type of the first feature in the list.

Definition at line 316 of file CFeature.h.

Referenced by mrpt::vision::matchFeatures().

◆ getByID() [1/2]

CFeature::Ptr CFeatureList::getByID ( const TFeatureID & ID ) const

Get a reference to a Feature from its ID.

Definition at line 1255 of file CFeature.cpp.

References begin(), and mrpt::vision::CFeature::ID.

Referenced by mrpt::vision::relocalizeMultiDesc().

◆ getByID() [2/2]

CFeature::Ptr CFeatureList::getByID	(	const TFeatureID &	ID,
		int &	out_idx
	)		const

Definition at line 1266 of file CFeature.cpp.

References begin(), and mrpt::vision::CFeature::ID.

◆ getByMultiIDs()

void CFeatureList::getByMultiIDs	(	const std::vector< TFeatureID > &	IDs,
		std::vector< CFeature::Ptr > &	out,
		std::vector< int > &	outIndex
	)		const

Get a vector of references to a subset of features from their IDs.

Definition at line 1282 of file CFeature.cpp.

◆ getFeatureID()

TFeatureID mrpt::vision::CFeatureList::getFeatureID ( size_t i ) const

inline

Definition at line 465 of file CFeature.h.

◆ getFeatureResponse()

float mrpt::vision::CFeatureList::getFeatureResponse ( size_t i ) const

inline

Definition at line 466 of file CFeature.h.

◆ getFeatureX()

float mrpt::vision::CFeatureList::getFeatureX ( size_t i ) const

inline

Definition at line 463 of file CFeature.h.

References m_feats.

◆ getFeatureY()

float mrpt::vision::CFeatureList::getFeatureY ( size_t i ) const

inline

Definition at line 464 of file CFeature.h.

◆ getMaxID()

TFeatureID CFeatureList::getMaxID ( ) const

Get the maximum ID into the list.

Definition at line 1328 of file CFeature.cpp.

References ASSERT_, begin(), empty(), mrpt::vision::CFeature::ID, mrpt::keep_max(), MRPT_END, and MRPT_START.

◆ getScale()

float mrpt::vision::CFeatureList::getScale ( size_t i ) const

inline

Definition at line 474 of file CFeature.h.

◆ getTrackStatus()

TFeatureTrackStatus mrpt::vision::CFeatureList::getTrackStatus ( size_t i )

inline

Definition at line 475 of file CFeature.h.

◆ isPointFeature()

bool mrpt::vision::CFeatureList::isPointFeature ( size_t i ) const

inline

Definition at line 470 of file CFeature.h.

◆ kdtree_distance()

float mrpt::vision::CFeatureList::kdtree_distance	(	const float *	p1,
		const size_t	idx_p2,
		size_t	size
	)		const

inline

Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

Definition at line 435 of file CFeature.h.

References ASSERTDEB_, m_feats, and MRPT_UNUSED_PARAM.

◆ kdtree_get_bbox()

template<typename BBOX >

bool mrpt::vision::CFeatureList::kdtree_get_bbox ( BBOX & bb ) const

inline

Definition at line 453 of file CFeature.h.

◆ kdtree_get_point_count()

size_t mrpt::vision::CFeatureList::kdtree_get_point_count ( ) const

inline

Must return the number of data points.

Definition at line 422 of file CFeature.h.

◆ kdtree_get_pt()

float mrpt::vision::CFeatureList::kdtree_get_pt	(	const size_t	idx,
		int	dim
	)		const

inline

Returns the dim'th component of the idx'th point in the class:

Definition at line 424 of file CFeature.h.

◆ kdtree_mark_as_outdated()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdtree_mark_as_outdated

inlineprotectedinherited

To be called by child classes when KD tree data changes.

Definition at line 732 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 178 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_dist_sqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 154 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x,
		float &	out_y,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 125 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2DsqrError() [1/2]

float mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2DsqrError ( const TPoint2D & p0 ) const

inlineinherited

Definition at line 200 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2DsqrError() [2/2]

float mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2DsqrError	(	float	x0,
		float	y0
	)		const

inlineinherited

Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.

Definition at line 193 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D	(	const TPoint3D &	p0,
		TPoint3D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 464 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_dist_sqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 439 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_x,
		float &	out_y,
		float &	out_z,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_z	The Z coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint2D

Definition at line 408 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2D() [1/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2D	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< TPoint2D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 325 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2D() [2/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2D	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

Returns: The list of indices

See also: kdTreeClosestPoint2D; kdTreeTwoClosestPoint2D

Definition at line 293 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2DIdx	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 380 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2DIdx	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D

Definition at line 358 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3D	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< TPoint3D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 592 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 499 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DIdx	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 719 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 696 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DWithIdx()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DWithIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_idx	The vector containing the indexes of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 557 of file KDTreeCapable.h.

◆ kdTreeRadiusSearch2D()

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeRadiusSearch2D	(	const float	x0,
		const float	y0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 2D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 661 of file KDTreeCapable.h.

◆ kdTreeRadiusSearch3D()

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeRadiusSearch3D	(	const float	x0,
		const float	y0,
		const float	z0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 3D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 626 of file KDTreeCapable.h.

◆ kdTreeTwoClosestPoint2D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeTwoClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut1,
		TPoint2D &	pOut2,
		float &	outDistSqr1,
		float &	outDistSqr2
	)		const

inlineinherited

Definition at line 259 of file KDTreeCapable.h.

◆ kdTreeTwoClosestPoint2D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeTwoClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x1,
		float &	out_y1,
		float &	out_x2,
		float &	out_y2,
		float &	out_dist_sqr1,
		float &	out_dist_sqr2
	)		const

inlineinherited

KD Tree-based search for the TWO closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x1	The X coordinate of the first correspondence.
out_y1	The Y coordinate of the first correspondence.
out_x2	The X coordinate of the second correspondence.
out_y2	The Y coordinate of the second correspondence.
out_dist_sqr1	The square distance between the query and the first returned point.
out_dist_sqr2	The square distance between the query and the second returned point.

See also: kdTreeClosestPoint2D

Definition at line 226 of file KDTreeCapable.h.

◆ loadFromTextFile()

void CFeatureList::loadFromTextFile ( const std::string & fileName )

◆ mark_as_outdated()

void mrpt::vision::CFeatureList::mark_as_outdated ( ) const

inline

Definition at line 495 of file CFeature.h.

◆ mark_kdtree_as_outdated()

void mrpt::vision::CFeatureList::mark_kdtree_as_outdated ( ) const

inline

Call this when the list of features has been modified so the KD-tree is marked as outdated.

Definition at line 364 of file CFeature.h.

◆ nearest()

CFeature::Ptr CFeatureList::nearest	(	const float	x,
		const float	y,
		double &	max_dist
	)		const

Get a reference to the nearest feature to the a given 2D point (version returning distance to closest feature in "max_dist")

Parameters

x	[IN] The query point x-coordinate
y	[IN] The query point y-coordinate
max_dist	[IN/OUT] At input: The maximum distance to search for. At output: The actual distance to the feature.

Returns: A reference to the found feature, or a nullptr smart pointer if none found.

Note: See also all the available KD-tree search methods, listed in mrpt::math::KDTreeCapable

Definition at line 1303 of file CFeature.cpp.

References empty().

◆ operator[]() [1/2]

CFeature::Ptr& mrpt::vision::CFeatureList::operator[] ( const unsigned int index )

inline

Definition at line 406 of file CFeature.h.

◆ operator[]() [2/2]

const CFeature::Ptr& mrpt::vision::CFeatureList::operator[] ( const unsigned int index ) const

inline

Definition at line 410 of file CFeature.h.

◆ push_back()

void mrpt::vision::CFeatureList::push_back ( const CFeature::Ptr & f )

inline

Definition at line 400 of file CFeature.h.

◆ rbegin() [1/2]

reverse_iterator mrpt::vision::CFeatureList::rbegin ( )

inline

Definition at line 377 of file CFeature.h.

References m_feats.

◆ rbegin() [2/2]

const_reverse_iterator mrpt::vision::CFeatureList::rbegin ( ) const

inline

Definition at line 379 of file CFeature.h.

◆ rebuild_kdTree_2D()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::rebuild_kdTree_2D

inlineprivateinherited

Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ...

asking the child class for the data points.

Definition at line 779 of file KDTreeCapable.h.

◆ rebuild_kdTree_3D()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::rebuild_kdTree_3D

inlineprivateinherited

Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ...

asking the child class for the data points.

Definition at line 813 of file KDTreeCapable.h.

◆ rend() [1/2]

reverse_iterator mrpt::vision::CFeatureList::rend ( )

inline

Definition at line 378 of file CFeature.h.

References m_feats.

◆ rend() [2/2]

const_reverse_iterator mrpt::vision::CFeatureList::rend ( ) const

inline

Definition at line 380 of file CFeature.h.

◆ resize()

void mrpt::vision::CFeatureList::resize ( size_t N )

inline

Definition at line 394 of file CFeature.h.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CMatchedFeatureList::getBothFeatureLists(), and mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors().

◆ saveToTextFile()

void CFeatureList::saveToTextFile	(	const std::string &	fileName,
		bool	APPEND = `false`
	)

Save feature list to a text file.

Definition at line 1039 of file CFeature.cpp.

References begin(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ setFeatureID()

void mrpt::vision::CFeatureList::setFeatureID	(	size_t	i,
		TFeatureID	id
	)

inline

Definition at line 484 of file CFeature.h.

◆ setFeatureResponse()

void mrpt::vision::CFeatureList::setFeatureResponse	(	size_t	i,
		float	r
	)

inline

Definition at line 485 of file CFeature.h.

◆ setFeatureX()

void mrpt::vision::CFeatureList::setFeatureX	(	size_t	i,
		float	x
	)

inline

Definition at line 480 of file CFeature.h.

References m_feats.

◆ setFeatureXf()

void mrpt::vision::CFeatureList::setFeatureXf	(	size_t	i,
		float	x
	)

inline

Definition at line 481 of file CFeature.h.

References m_feats.

◆ setFeatureY()

void mrpt::vision::CFeatureList::setFeatureY	(	size_t	i,
		float	y
	)

inline

Definition at line 482 of file CFeature.h.

References m_feats.

◆ setFeatureYf()

void mrpt::vision::CFeatureList::setFeatureYf	(	size_t	i,
		float	y
	)

inline

Definition at line 483 of file CFeature.h.

◆ setScale()

void mrpt::vision::CFeatureList::setScale	(	size_t	i,
		float	s
	)

inline

Definition at line 489 of file CFeature.h.

◆ setTrackStatus()

void mrpt::vision::CFeatureList::setTrackStatus	(	size_t	i,
		TFeatureTrackStatus	s
	)

inline

Definition at line 490 of file CFeature.h.

◆ size()

size_t mrpt::vision::CFeatureList::size ( ) const

inline

Definition at line 388 of file CFeature.h.

Referenced by mrpt::vision::checkTrackedFeatures(), mrpt::vision::computeMultiOrientations(), mrpt::vision::computeMultiResolutionDescriptors(), copyListFrom(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::find_descriptor_pairings(), mrpt::vision::getDispersion(), mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSiftDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::detail::TSIFTDesc2KDTree_Adaptor< distance_t >::kdtree_distance(), mrpt::vision::detail::TSURFDesc2KDTree_Adaptor< distance_t >::kdtree_distance(), mrpt::vision::detail::TSIFTDesc2KDTree_Adaptor< distance_t >::kdtree_get_point_count(), mrpt::vision::detail::TSURFDesc2KDTree_Adaptor< distance_t >::kdtree_get_point_count(), mrpt::vision::matchFeatures(), mrpt::vision::matchMultiResolutionFeatures(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::TSIFTDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee(), mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee(), mrpt::vision::relocalizeMultiDesc(), mrpt::vision::rowChecking(), mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >(), and mrpt::vision::updateBaseList().

Member Data Documentation

◆ kdtree_search_params

TKDTreeSearchParams mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdtree_search_params

inherited

Parameters to tune the ANN searches.

Definition at line 103 of file KDTreeCapable.h.

◆ m_feats

TInternalFeatList mrpt::vision::CFeatureList::m_feats

protected

The actual container with the list of features.

Definition at line 312 of file CFeature.h.

Referenced by begin(), end(), getFeatureX(), kdtree_distance(), rbegin(), rend(), setFeatureX(), setFeatureXf(), and setFeatureY().

◆ m_kdtree2d_data

TKDTreeDataHolder<2> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::m_kdtree2d_data

mutableprivateinherited

Definition at line 771 of file KDTreeCapable.h.

◆ m_kdtree3d_data

TKDTreeDataHolder<3> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::m_kdtree3d_data

mutableprivateinherited

Definition at line 772 of file KDTreeCapable.h.

◆ m_kdtree_is_uptodate

bool mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::m_kdtree_is_uptodate

mutableprivateinherited

whether the KD tree needs to be rebuilt or not.

Definition at line 775 of file KDTreeCapable.h.

◆ m_kdtreeNd_data

TKDTreeDataHolder mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::m_kdtreeNd_data

mutableprivateinherited

Definition at line 773 of file KDTreeCapable.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Public utility methods to query the KD-tree

Method and datatypes to emulate a STL container

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ iterator

◆ reverse_iterator

◆ self_t

◆ TInternalFeatList

Constructor & Destructor Documentation

◆ CFeatureList()

◆ ~CFeatureList()

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ copyListFrom()

◆ derived() [1/2]

◆ derived() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ get_type()

◆ getByID() [1/2]

◆ getByID() [2/2]

◆ getByMultiIDs()

◆ getFeatureID()

◆ getFeatureResponse()

◆ getFeatureX()

◆ getFeatureY()

◆ getMaxID()

◆ getScale()

◆ getTrackStatus()

◆ isPointFeature()

◆ kdtree_distance()

◆ kdtree_get_bbox()

◆ kdtree_get_point_count()

◆ kdtree_get_pt()

◆ kdtree_mark_as_outdated()

◆ kdTreeClosestPoint2D() [1/3]

◆ kdTreeClosestPoint2D() [2/3]

◆ kdTreeClosestPoint2D() [3/3]

◆ kdTreeClosestPoint2DsqrError() [1/2]

◆ kdTreeClosestPoint2DsqrError() [2/2]

◆ kdTreeClosestPoint3D() [1/3]

◆ kdTreeClosestPoint3D() [2/3]

◆ kdTreeClosestPoint3D() [3/3]

◆ kdTreeNClosestPoint2D() [1/2]

◆ kdTreeNClosestPoint2D() [2/2]

◆ kdTreeNClosestPoint2DIdx() [1/2]

◆ kdTreeNClosestPoint2DIdx() [2/2]

◆ kdTreeNClosestPoint3D() [1/2]

◆ kdTreeNClosestPoint3D() [2/2]

◆ kdTreeNClosestPoint3DIdx() [1/2]

◆ kdTreeNClosestPoint3DIdx() [2/2]

◆ kdTreeNClosestPoint3DWithIdx()

◆ kdTreeRadiusSearch2D()

◆ kdTreeRadiusSearch3D()

◆ kdTreeTwoClosestPoint2D() [1/2]

◆ kdTreeTwoClosestPoint2D() [2/2]

◆ loadFromTextFile()

◆ mark_as_outdated()

◆ mark_kdtree_as_outdated()

◆ nearest()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ push_back()

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ rebuild_kdTree_2D()

◆ rebuild_kdTree_3D()

◆ rend() [1/2]

◆ rend() [2/2]