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10 #ifndef mrpt_multiDesc_utils_H
11 #define mrpt_multiDesc_utils_H
36 std::map<int, std::map<int, std::deque<std::pair<TFeatureID, double>>>>>;
51 const std::vector<int>& idx);
72 double& mag,
double& ori);
89 const unsigned int patchSize, std::vector<double>& orientations,
106 std::vector<double>& hist,
const double& cbin,
const double& rbin,
107 const double& obin,
const double& mag,
const int d,
const int n);
127 const unsigned int patchSize,
const double& orientation,
129 std::vector<int32_t>& hashCoeffs);
void computeMultiOrientations(const mrpt::img::CImage &image, CFeatureList &list, const TMultiResDescOptions &opts)
Computes the multi-resolution SIFT-like descriptor of a list of features.
void 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...
Struct containing the output after matching multi-resolution SIFT-like descriptors.
TMultiResMatchingOutput relocalizeMultiDesc(const mrpt::img::CImage &image, CFeatureList &baseList, CFeatureList ¤tList, TQuantizationTable &qTable, const TMultiResDescOptions &desc_opts, const TMultiResDescMatchOptions &match_opts)
Struct containing the options when computing the multi-resolution SIFT-like descriptors.
Struct containing the options when matching multi-resolution SIFT-like descriptors.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool computeGradient(const mrpt::img::CImage &image, const unsigned int x, const unsigned int y, double &mag, double &ori)
Computes the gradient of certain pixel within the image.
A list of visual features, to be used as output by detectors, as input/output by trackers,...
void computeHistogramOfOrientations(const mrpt::img::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,...
std::shared_ptr< CFeature > Ptr
void 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 fea...
void updateBaseList(CFeatureList &baseList, const CFeatureList ¤tList, const std::vector< int > &idx)
void computeMultiResolutionDescriptors(const mrpt::img::CImage &imageLeft, const mrpt::img::CImage &imageRight, CMatchedFeatureList &matchedFeats, const TMultiResDescOptions &opts)
Computes the multi-resolution SIFT-like descriptor of a set of matched features.
void saveQTableToFile(const TQuantizationTable &qTable, const std::string &filename)
std::map< int, std::map< int, std::map< int, std::deque< std::pair< TFeatureID, double > >> >> TQuantizationTable
A class for storing images as grayscale or RGB bitmaps.
int computeMoreDescriptors(const mrpt::img::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.
GLenum GLsizei GLenum GLenum const GLvoid * image
TMultiResMatchingOutput matchMultiResolutionFeatures(const CFeatureList &list1, CFeatureList &list2, const mrpt::img::CImage &rightImage, const TMultiResDescMatchOptions &matchOpts, const TMultiResDescOptions &computeOpts)
Matches two CFeatureList containing mulit-resolution descriptors.
void insertHashCoeffs(const CFeature::Ptr &feat, TQuantizationTable &qTable)
GLsizei const GLchar ** string
void checkScalesAndFindMore(CMatchedFeatureList &baseList, const CFeatureList ¤tList, const mrpt::img::CImage ¤tImage, const TMultiResMatchingOutput &output, const TMultiResDescOptions &computeOpts, const TMultiResDescMatchOptions &matchOpts)
bool computeMainOrientations(const mrpt::img::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 p...
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